Simulation of a 3-DOF 3-PRP Planar Parallel Robot

Instructions: Use any mouse button (or the arrow keys) and the mouse wheel (or the Z and X keys) to translate and rotate the mobile platform, respectively. You may also enter directly the pose of the mobile platform (x, y, φ) in the "Platform Pose" field group. Alternatively, you may drive the robot in the active-joint space.

If the simulation does no appear, you probably need to download Java :  

Exercise 1: Why don't you see any singularity loci when φ is non-zero? What happens at φ = 0?

Exercise 2: Why can't the active-joint variables be increased when φ = 0?

Exercise 3: If there were no actuator or passive joint limits, what other orientations will lead to singularities?

Created by Claude Berardino from École de technologie supérieure (ÉTS), Montréal, Canada.