Kinetostatic Performance of a Planar Parallel Mechanism with Variable   Actuation
  This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared. 
Novona Rakotomanga (GPA), Damien Chablat (IRCCyN), St\'ephane Caro   (IRCCyN)