It is known that serial manipulators generate greater workspace. Recent trend is to use planar parallel manipulators where heavy loads are to be handled. There are a large number of planar parallel structures available with the same number of links and degree of freedom (d.o.f.). However, there is no quantitative measure to estimate the parallelism present in a chain. Mathematical measures are proposed to estimate parallelism that exists in a chain, since it influences the rigidity and workspace. Also, formulae are suggested to get insight of the workspace generated, i.e., well conditioned or not.
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