1. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Parameters and coordinates

2. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Curves of poles and zeros for the Innocenti-Merlet manipulator

3. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Crossing the curve of poles

4. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Example of a “similar” manipulator

5. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Example of a “symmetric” manipulator

6. From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
Date of download: 10/2/2017
Copyright © ASME. All rights reserved.
From: A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects
J. Mechanisms Robotics. 2012;4(1): doi: /
Figure Legend:
Non generic manipulator with bA = bB = 5, hA = hB = 3, dA = −dB = 2