Cezar Duca

Gheorghe Asachi Technical University of Iași

Papers

Total Citations

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About

Cezar Duca’s research focuses on the kinematics and singularities of parallel robotic mechanisms, with a particular emphasis on planar 3-RRR structures. His work addresses one of the most critical challenges in parallel robotics: the identification and avoidance of singularities within the workspace. In his most cited paper (2014, 14 citations), Duca analyzes the working quality inside the workspace of a 3-DOF, 3-RRR planar parallel mechanism, providing methods to avoid singularities—a major drawback in practical robot applications. He further extends this analysis in a 2016 study (3 citations) by characterizing second-type singularity curves through systematic variation of link dimensional parameters. These contributions offer valuable insights for optimizing the design and control of parallel robots, helping researchers and engineers predict and mitigate problematic configurations. Duca’s work is especially relevant for those studying mechanism design, workspace analysis, and singularity theory in robotics, providing a foundation for safer and more efficient robot operation.