{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T14:48:14Z","timestamp":1767192494716,"version":"3.45.0"},"reference-count":58,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T00:00:00Z","timestamp":1763510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100006769","name":"Russian Science Foundation","doi-asserted-by":"publisher","award":["25-19-00929"],"award-info":[{"award-number":["25-19-00929"]}],"id":[{"id":"10.13039\/501100006769","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Although parallel mechanisms are used in various fields, their application is often limited by singularities and a restricted workspace. Kinematic redundancy is a promising approach for mitigating these issues while also extending the functionality of the mechanisms. This article contributes to this field by introducing two novel Delta-type kinematically redundant parallel mechanisms with linear actuators. The moving platform in these mechanisms has three translational degrees of freedom and consists of two parts connected by a prismatic joint, providing an extra translation between the parts. First, we present closed-form solutions to the inverse and forward kinematic problems, accompanied by numerical examples that validate the theoretical derivations. Next, we analyze singular configurations of the mechanisms with a symmetrical design, focusing on parallel singularities. Using an iterative approach, we identify points within the workspace corresponding to these configurations, including finite-motion singularities. Based on this analysis, we changed the geometrical parameters of one mechanism and presented the design where the singularity-free region of the workspace occupies 95% of the total workspace. This study forms the basis for future research on the proposed mechanisms and their prototyping.<\/jats:p>","DOI":"10.3390\/robotics14110170","type":"journal-article","created":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T15:03:15Z","timestamp":1763564595000},"page":"170","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Novel Kinematically Redundant (3+1)-DOF Delta-Type Parallel Mechanisms"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9992-1808","authenticated-orcid":false,"given":"Pavel","family":"Laryushkin","sequence":"first","affiliation":[{"name":"Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia"},{"name":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3928-5440","authenticated-orcid":false,"given":"Anton","family":"Antonov","sequence":"additional","affiliation":[{"name":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-1681-2815","authenticated-orcid":false,"given":"Egor","family":"Ispolov","sequence":"additional","affiliation":[{"name":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-1652-6223","authenticated-orcid":false,"given":"Maria","family":"Goncharova","sequence":"additional","affiliation":[{"name":"Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101000 Moscow, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7438-3263","authenticated-orcid":false,"given":"Ay\u015fe Ceren","family":"Aydil","sequence":"additional","affiliation":[{"name":"Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), 105005 Moscow, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Angeles, J. 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