Maximally regular planar parallel robots

Maximally regular planar parallel robots are actuated by one rotating and two linear actuators and can have various degrees of overconstraint. In these solutions, the three operational velocities are equal to their corresponding actuated joint velocities: \({\it v}_1=\dot{q}_1,{\it v}_2=\dot{q}_2\)and\(\omega_\delta=\dot{q}_3.\)The Jacobian matrix in Eq. (1.18) is the identity matrix. We call planar Isoglide3-T2R1 the parallel mechanisms of this family.