Kinematická analýza rovinného paralelného mechanizmu s tromi vodiacimi reťazcami s neidentickou štruktúrou

In this paper, we analyse the mobility of a planar parallel mechanism with three serial chains. The serial chains consist of three joints with one degree of freedom (rotational and translational), but with a different arrangement or combination of the mentioned joints. Using the Screw theory concept, there is investigated the mobility of the end effector, and the direct and inverse problem for the speeds is formulated, as well. Further, we deal with the occurrence of singular positions of such a mechanism.