About some problems regarding IKP-DKP of a 9R planar parallel mechanism

Abstract

The paper presents some problems which might occur at different stages of the 9R(3RRR) planar mechanisms study (workspace characterizing, forward and direct kinematics, singularities analysis). At each of this stage, it has been identified certain problem which can occur and that need more attention and effort to be solved. In the paper classical methods, and formulas, known from technical literature, have been used, but occurred situations was depicted detailed and illustrated by graphical representations.