The Test of 2 DOF Planar Parallel Manipulator

Planar parallel manipulator (PPM) is a common type of robot, mainly used in spray paint and material transport.
Although the structure of PPM is simple, it's hard to design it due to the nonlinear characteristic of linkage mechanisms.
I recommend that we can analyze the transmissibility of mechanism to determine the dimensions of links, as shown in the references.
Due to so many parts, I show the assemblying video.
Input: 2 white tubes
Output: yellow end link
Dimensions: 135 * 200 * 175 mm^3
Contact plane clearance: 0.2 - 0.25 mm
STL files download link:
www.thingiverse.com/thing:654...
Ref:
Xin-Jun Liu, Jie Li, Yanhua Zhou, Kinematic optimal design of a 2-degree-of-freedom 3-parallelogram planar parallel manipulator, Mechanism and Machine Theory 87 (2015)
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