Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms

In this paper, a new procedure is introduced to determine maximal singularity-free zones of the 3-RPR parallel mechanisms. The procedure does not involve a discretization of the workspace and the zones obtained are guaranteed to be free from singularities. Numerical examples are given in order to graphically illustrate the effectiveness of the procedure. The proposed approach can be applied to analyze other similar parallel mechanisms.