The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic con-figurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.

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