Similarity law for the design and workspace optimization of 3RRR planar parallel robots

In this paper an exhaustive singularity analysis of a 3BRR planar parallel robot is performed. The Jacobian matrix using the Screw theory is obtained and an effective method for singular configurations analysis based on a condition index of the Jacobian matrix is presented. Finally, a new similarity law that allows the workspace optimization free of singular configurations and the working mode selection is presented. Furthermore, MATLAB as a testing tool and programming language is used.