# Singularity-Free Trajectory Planning of a 3-RPRR Planar Kinematically Redundant Parallel Mechanism for Minimum Actuating Effort

> Research article (Iranian Journal of Science and Technology Transactions of Mechanical Engineering, 2018) · cited 20× · AI/ML

**Wikidata**: [openalex:W2888094961](https://www.wikidata.org/wiki/openalex:W2888094961)  
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