Table 1:
Actuation schemes of 3RPR manipulator.
Actuation no.
Actuation scheme
Active joints
1
R
P
R1-R
P
R2-R
P
R3
2
R
PR1-
R
PR2-
R
PR3
3
R
P
R1-R
P
R2-
R
PR3
4
R
P
R1-
R
PR2-
R
PR3
5
R
P
R1-
R
PR2-R
P
R3
6
R
PR1-R
P
R2-R
P
R3
7
R
PR1-
R
PR2-R
P
R3
8
R
PR1-R
P
R2-
R
PR3