Self Motions of a Special 3-rpr Planar Parallel Robot

@inproceedings{Chablat2008SelfMO,
  title={Self Motions of a Special 3-rpr Planar Parallel Robot},
  author={Damien Chablat and Phlippe Wenger},
  year={2008}
}
robot with actuated base joints and congruent equilateral base and mobile platform. The singularity loci are first determined. Then the global behavior at all singularities is geometrically described by studying the degeneracies of the direct kinematic model. This study is made easier by the fact that one of the two direct kinematic solutions is trivial and singular. It is shown that this parallel robot has Cardanic self motions.