Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations

  • Stefan SchulzEmail author
  • Arthur Seibel
  • Josef Schlattmann
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper, we show that the number of possible assembly modes for the general planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, can be significantly reduced when using the linear actuators’ orientations in-stead of their lengths. The linear actuators’ lengths lead to a univariate polynomial which can have up to six different solutions and thus provides up to six assembly modes. By measuring the orientations of the linear actuators, provided, e. g., by inertial measurement units, only two assembly modes exist. Furthermore, by using two orientations of the linear actuators in addition to the moveable manipulator platform’s orientation, only one assembly mode remains.


assembly modes direct kinematics problem parallel kinematics 3-RPR parallel mechanism linear actuators’ orientations 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Stefan Schulz
    • 1
    Email author
  • Arthur Seibel
    • 1
  • Josef Schlattmann
    • 1
  1. 1.Workgroup on System Technologies and Engineering Design MethodologyHamburg University of TechnologyHamburgGermany

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