Table 2:
actuation schemes for 3PRR manipulator.
Actuation no.
Actuation scheme
Active joints
1
P
RR1-
P
RR2-
P
RR3
𝜌
1
𝜌
2
𝜌
3
2
P
R
R1-P
R
R2-P
R
R3
𝛽
1
𝛽
2
𝛽
3
3
P
RR1-P
R
R2-P
R
R3
𝜌
1
𝛽
2
𝛽
3
4
P
RR1-
P
RR2-P
R
R3
𝜌
1
𝜌
2
𝛽
3
5
P
R
R1-P
R
R2-
P
RR3
𝛽
1
𝛽
2
𝜌
3
6
P
R
R1-
P
RR2-
P
RR3
𝛽
1
𝜌
2
𝜌
3
7
P
R
R1-
P
RR2-P
R
R3
𝛽
1
𝜌
2
𝛽
3
8
P
RR1-P
R
R2-
P
RR3
𝜌
1
𝛽
2
𝜌
3