Modeling of a 3RRR Parallel Robot

This paper discusses, a 3RRR plane parallel robot modeling developed with a kinematic model and Jacobian matrix. An illustration is proposed which determines the workspace and the different working modes of the 3RRR parallel robot through the Jacobian matrix, to find the different singular points of the 3RRR robot. The simulation results are described to illustrate the efficacy of the proposed technique.