%0 Journal Article
	%A S. Ramana Babu and  V. Ramachandra Raju and  K. Ramji
	%D 2015
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 108, 2015
	%T Singularity Loci of Actuation Schemes for 3RRR Planar Parallel Manipulator
	%U https://publications.waset.org/pdf/10004725
	%V 108
	%X This paper presents the effect of actuation schemes on the performance of parallel manipulators and also how the singularity loci have been changed in the reachable workspace of the manipulator with the choice of actuation scheme to drive the manipulator. The performance of the eight possible actuation schemes of 3RRR planar parallel manipulator is compared with each other. The optimal design problem is formulated to find the manipulator geometry that maximizes the singularity free conditioned workspace for all the eight actuation cases, the optimization problem is solved by using genetic algorithms.
	%P 2189 - 2199