Differential kinematics and singularities of a quadruple-end-effector 9-DOF 3-5R planar parallel robot for multi-tasking operations
Published online on April 27, 2026
Abstract
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Ahead of Print.
Multi-tasking is crucial to enhance the productivity of robotic systems. Moreover, it is compulsory in many applications. Motivated by these facts, this paper studies a parallel robot with four end-effectors. It is a 9-DOF planar parallel manipulator (PPM)...
Multi-tasking is crucial to enhance the productivity of robotic systems. Moreover, it is compulsory in many applications. Motivated by these facts, this paper studies a parallel robot with four end-effectors. It is a 9-DOF planar parallel manipulator (PPM)...