Table 1: Actuation schemes of 3RPR manipulator.

Actuation no.Actuation schemeActive joints

1RPR1-RPR2-RPR3      
2RPR1-RPR2-RPR3
3RPR1-RPR2-RPR3
4RPR1-RPR2-RPR3   
5RPR1-RPR2-RPR3   
6RPR1-RPR2-RPR3      
7RPR1-RPR2-RPR3   
8RPR1-RPR2-RPR3