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Four wrench capabilities are examined: a pure force analysis, the maximum force for a prescribed moment, the maximum reachable force, and the maximum moment with a prescribed force. The proposed methodology, which finds the exact explicit solution for three of the four wrench capabilities, does not use optimization and is very efficient.<\/jats:p>","DOI":"10.1017\/s0263574720001381","type":"journal-article","created":{"date-parts":[[2021,1,26]],"date-time":"2021-01-26T04:36:06Z","timestamp":1611635766000},"page":"1601-1616","source":"Crossref","is-referenced-by-count":10,"title":["Wrench Capabilities of a Kinematically Redundant Planar Parallel Manipulator"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8998-7360","authenticated-orcid":false,"given":"Roger","family":"Boudreau","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Scott","family":"Nokleby","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marise","family":"Gallant","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,1,26]]},"reference":[{"key":"S0263574720001381_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2409433"},{"key":"S0263574720001381_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.837234"},{"key":"S0263574720001381_ref24","unstructured":"[24] Boudreau, R. , Nokleby, S. and Gallant, M. , \u201cInvestigating the Wrench Capabilities of a Kinematically-Redundant Planar Parallel Manipulator,\u201d In: Proceedings of the 2019 CCToMM Symposium on Mechanisms, Machines and Mechatronics (2019) 12 pages."},{"key":"S0263574720001381_ref22","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004396"},{"key":"S0263574720001381_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.06.020"},{"key":"S0263574720001381_ref23","unstructured":"[23] Weihmann, L. , Martins, D. and Coelho, L. , \u201cForce capabilities of kinematically redundant planar parallel manipulators,\u201d In: Proceedings of 13th World Congress in Mechanism and Machine Science (2011) 8 pages."},{"key":"S0263574720001381_ref13","unstructured":"[13] Kock, S. and Schumacher, W. , \u201cParallel x-y Manipulator with Actuation Redundancy for High-Speed and Active-Stiffness Applications,\u201d In: Proceedings of IEEE Conference on Robotics and Automation (1998) pp. 2295\u20132300."},{"key":"S0263574720001381_ref26","doi-asserted-by":"publisher","DOI":"10.1115\/1.1582878"},{"key":"S0263574720001381_ref27","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20013"},{"key":"S0263574720001381_ref17","unstructured":"[17] Kokkinis, T. and Paden, B. , \u201cKinetostatic Performance Limits of Cooperating Robot Manipulators,\u201d In: Proceedings of the ASME Winter Annual Meeting (1989) pp. 151\u2013155."},{"key":"S0263574720001381_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.4038931"},{"key":"S0263574720001381_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.05.010"},{"key":"S0263574720001381_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.1641189"},{"key":"S0263574720001381_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.06.001"},{"key":"S0263574720001381_ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0037549711414157"},{"key":"S0263574720001381_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574720001381_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.08.022"},{"key":"S0263574720001381_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2003.11.002"},{"key":"S0263574720001381_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004384"},{"key":"S0263574720001381_ref29","first-page":"469","article-title":"Force-moment capabilities of revolute-jointed planar parallel manipulators with additional actuated branches","volume":"31","author":"Firmani","year":"2007","journal-title":"Trans. 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