Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that  denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Beten two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure.
['Jens Kotlarski', 'Houssem Abdellatif', 'Bodo Heimann']
I am writing a research paper on a idea Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns
[{"from": "human", "value": "I am writing a research paper on a idea Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that  denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Beten two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure."}]