Research on kinematics and singularity of a 3-RRR planar hybrid mechanism

This paper studies the kinematics and singularity of a 3-RRR planar hybrid mechanism, which consists of serial and parallel kinematic chains. The configuration characteristics of the 3-RRR planar hybrid mechanism are analysed. The kinematics of the 3-RRR planar hybrid mechanism is solved by applying chaos particle swarm optimisation. The forward position and the inverse position are formulated. Moreover, three kinds of singularities are analysed. The assembly configurations of forward singularity, inverse singularity are obtained, respectively. The results play an important role in practical application for the 3-RRR hybrid mechanism.