الفهرس 
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Abstract
This research work is concerned with the Planar Parallel Manipulator (PPM). This investigation leads to a comparative study between the 2-RRR PPM, which is a non-redundant PPM and 3-RRR PPM, which is a redundant PPM. The main objective is to compare one type of PPM with another one that has one step of construction’s upgrading with respect to the other PPM. An important issue for optimal design of these manipulators is related to their performance characterizations. The 2-RRR non redundant PPM and 3-RRR redundant PPM, with 2-degree-of freedom are considered. These two PPMs are introduced with their mechanism construction. Investigation of characteristics of PPMs goes through the complexity of the direct and inverse kinematics problems, which are solved using the suggested and proper geometrical equations. The dexterous workspace is geometrically obtained where the End-Effector (EE) can reach and illustrate some of its properties. In order to complete the study for these PPMs, a relationship between input virtual powers at the actuators to output virtual power at the EE leading to the virtual work principle, which is determined, obtained and used, to get the PPM characteristics using the dynamic model. The Jacobian matrix for these manipulators is essential method to complete the analysis, which have some issues due to the Degree - of - Freedom (DoF) for each manipulator. This research work investigates not only the two kinematic characteristics maps - manipulability and dexterity - indices, but also with a dynamic characteristics map called dynamic index. Due to the practically implementation of the 3-RRR PPM, the rest of this work is being considered only for this PPM type. The Lagrange D’Alembert formulation is being used to derive the dynamic model for the redundant actuation 3-RRR PPM. PD and Computed Torque Control (CTC) algorithms are introduced and simulated for 3-RRR PPM. This simulation has been done using MATLAB. Finally, 3-RRR PPM has been practically implemented with applied PD CTC algorithm using LABVIEW in conjunction with MATLAB to get the practical results.