Geometric Parameter Optimization of a Novel 3-(PP(2-(UPS))) Redundant Parallel Mechanism based on Workspace Determination

This article focuses on optimizing the geometric parameters of a specific type of redundant parallel mechanism. The methodology likely involves determining the workspace (the range of motion) of the mechanism and then optimizing its parameters to achieve desired performance characteristics within that workspace. The use of 'novel' suggests this is a new design or a significant modification of an existing one. The source, ArXiv, indicates this is a research paper.