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Then, all types of singularities of the 3-<jats:underline>RP<\/jats:underline>RR manipulator are analysed and demonstrated. Thereafter, the dexterous workspace is geometrically obtained and compared with the non-redundant 3-<jats:underline>P<\/jats:underline>RR planar parallel manipulator. Finally, based on a geometrical measure of proximity to singular configurations and the condition number of the manipulators' Jacobian matrices, actuation schemes for the manipulators are obtained. Different actuation schemes for a given path are obtained and the quality of their actuation schemes are compared. It is shown that the proposed manipulator is capable of following a path while avoiding the singularities.<\/jats:p>","DOI":"10.1017\/s0263574708004256","type":"journal-article","created":{"date-parts":[[2008,3,18]],"date-time":"2008-03-18T09:02:30Z","timestamp":1205830950000},"page":"405-413","source":"Crossref","is-referenced-by-count":44,"title":["Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator"],"prefix":"10.1017","volume":"26","author":[{"given":"Iman","family":"Ebrahimi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juan A.","family":"Carretero","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roger","family":"Boudreau","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"S0263574708004256_ref22","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"S0263574708004256_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600205"},{"key":"S0263574708004256_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00025-6"},{"key":"S0263574708004256_ref17","first-page":"3738","article-title":"A new Architecture of Planar Three-Degree-of-Freedom Parallel Manipulator","volume":"Vol. 4","author":"Gosselin","year":"1996","journal-title":"Proceedings of the 1996 IEEE International Conference on Robotics and Automation (Cat. 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E. and Angeles J. , \u201cInstantaneous Kinematics and Design of a Novel Redundant Parallel Manipulator,\u201d Proceedings of the IEEE Conference on Robotics and Automation, San Diego, USA (May 1994) pp. 3043\u20133048.","DOI":"10.1109\/ROBOT.1994.351102"},{"key":"S0263574708004256_ref10","first-page":"1097","article-title":"Kinematic Analysis of Generalized Parallel Manipulator Systems","volume":"Vol. 2","author":"Lee","year":"1993","journal-title":"Proceedings of the IEEE Conference on Decision and Control"},{"key":"S0263574708004256_ref24","volume-title":"Robot Analysis: The Mechanics of Serial and Parallel Manipulators","author":"Tsai","year":"1999"},{"key":"S0263574708004256_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"S0263574708004256_ref7","doi-asserted-by":"publisher","DOI":"10.1115\/1.2121747"},{"key":"S0263574708004256_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041562"},{"key":"S0263574708004256_ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.533542"},{"key":"S0263574708004256_ref1","volume-title":"Parallel Robots","author":"Merlet","year":"2006"},{"key":"S0263574708004256_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2006.07.006"},{"key":"S0263574708004256_ref14","doi-asserted-by":"crossref","unstructured":"14. 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