Bahman Nouri Rahmat Abadi - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Mojtaba Mahzoon - School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Mehrdad Farid - School of Mechanical Engineering, Shiraz University, Shiraz, Iran

This paper deals with the performance evaluation of a novel class of kinematically redundant planar parallel mechanisms. First, the architectures of the proposed mechanisms, one with 3-CRPR structure and the other with 3-CPRR one, are elaborated. Then, Kinematics of the proposed mechanisms is studied and the homogeneous Jacobian matrices are obtained. Finally, the conditioning, velocity, payload and stiffness indices are developed to compare the performance of the introduced mechanisms with those of similar size non-redundant mechanisms.

Kinematic redundancy, performance evaluation, parallel mechanisms.