Table 2: actuation schemes for 3PRR manipulator.

Actuation no.Actuation schemeActive joints

1PRR1-PRR2-PRR3
2PRR1-PRR2-PRR3
3PRR1-PRR2-PRR3
4PRR1-PRR2-PRR3
5PRR1-PRR2-PRR3
6PRR1-PRR2-PRR3
7PRR1-PRR2-PRR3
8PRR1-PRR2-PRR3