This paper presents a kinematically redundant parallel mechanism capable of generating the Schönflies motion with unlimited rotation capabilities. The kinematic modeling is presented and the analysis of the Jacobian matrices provides a basis for the singularity analysis of the manipulator. It is shown that the mechanism has unlimited rotation capabilities in a large translational workspace. The design of a prototype and experimental results are also presented.
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Schreiber et al. (2019) studied this question.
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