NAVARO II is a new 3-RPR parallel robot whose scissor mechanisms act as prismatic joints, and its eight actuation modes have compact singularity equations that allow singularity avoidance across the workspace.
and Li, C., Management of parallel-manipulator singularities using joint-coupling Advanced Robotics, vol
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NAVARO II, a Novel Scissor-Based Planar Parallel Robot 1
NAVARO II is a new 3-RPR parallel robot whose scissor mechanisms act as prismatic joints, and its eight actuation modes have compact singularity equations that allow singularity avoidance across the workspace.