A versatile apparatus for inverse and direct kinematic analysis of 3$\underset{\_}{R}$RR planar parallel mechanisms

The paper presents an approach containing a package of several integrated programs, each of them being devoted to one of the principal problems regarding 3RRR planar parallel mechanisms: workspace, forward and direct kinematics and singularities problem. In order to perform workspaces coordinates and forward kinematics was used classical procedures, widespread and known in technical literature. For direct kinematics and singularities study, we used classical procedures also, but applied in a particular ways, related to each of them. Thereby, the proposed programs package represents a useful instrument in practical goals, one of them being didactical process of students' instruction in engineering, but also for research and design purposes. The paper is a refined and a extended research of an older one [24]. (paper)