How to get the dexterity Index for a " redundant " 3-RRR Planar Parallel Manipulator?

09 February 2016 0 974 Report

I need to determine the local and the global dexterity index for 2-DOF of a 3-RRR Planar Parallel Manipulator, Note that the manipulator have no platform at the end-effector.

I hope if there a numerical example show that.

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