Dumitru Leohchi

Gheorghe Asachi Technical University of Iași

Papers

Total Citations

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About

Dumitru Leohchi is a mechanical engineer and robotics researcher whose work centers on the kinematic analysis and optimization of parallel robotic mechanisms, with a particular focus on planar parallel manipulators. His most influential contributions investigate the geometric and operational properties of the 3-RRR planar parallel mechanism — a three-degree-of-freedom robotic structure widely studied for precision motion applications. Leohchi's 2014 paper on workspace characterization, which has garnered 17 citations, systematically maps the shape and dimensional dependencies of the 3-RRR mechanism's reachable workspace, providing practical guidance for robot designers. Complementing this work, his equally impactful 2014 study on singularity analysis — cited 14 times — addresses one of the most critical challenges in parallel robotics: identifying and avoiding singular configurations where the mechanism loses controllability. His 2016 contribution further refines this understanding by graphically characterizing second-type singularity curves as functions of link parameters, offering engineers an intuitive visual tool for mechanism design. Together, these works establish Leohchi as a focused contributor to the foundational knowledge of planar parallel robot kinematics, advancing both theoretical understanding and applied robotics design methodology.