Titlebook: Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering; Grigore Gogu,Daniel Coutellier,Pascal Ray Book 2003 Spri

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The Isoconditioning Loci of Planar Three-Dof Parallel Manipulatorss are studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The resulting index is compar