Abstract: In this paper, the complete categorization of all generic 3-revolute jointed (3R) positioning manipulators is established using a homotopy based classification scheme. It is shown that there ...

Abstract: This paper investigates two situations in which the forward kinematics of planar 3-RP̱R parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy ...

Abstract: Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint ...