The figure below shows a planar parallel manipulator called a ?variable geometry truss?. Three actuated prismatic joints
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Question:
The figure below shows a planar parallel manipulator called a ?variable geometry truss?. Three actuated prismatic joints are used to control the position and orientation of the platform. The revolute joints at the end of each link are passive. Assume that there are no actuator limits.
Use Gruebler?s formula to calculate the number of degrees of freedom of the mechanism.
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