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Presented in this paper is the kinematic analysis of a symmetricalthree-degree-of-freedom planar parallel manipulator. In opposite to serialmanipulators, parallel manipulators can admit not only multiple inversekinematic solutions, but also multiple direct kinematic solutions. Thisproperty produces more complicated kinematic models but allows more flexibilityin trajectory planning. To take into account this property, the notion ofaspects, i.e. the maximal singularity-free domains, was introduced, based onthe notion of working modes, which makes it possible to separate the inversekinematic solutions. The aim of this paper is to show that a non-singularassembly-mode changing trajectory exist for a symmetrical planar parallelmanipulator, with equilateral base and platform triangle.

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator