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In this paper, a method to compute joint space singularity surfaces of 3-RPRplanar parallel manipulators is first presented. Then, a procedure to determinemaximal joint space singularity-free boxes is introduced. Numerical examplesare given in order to illustrate graphically the results. This study is of highinterest for planning trajectories in the joint space of 3-RPR parallelmanipulators and for manipulators design as it may constitute a tool forchoosing appropriate joint limits and thus for sizing the link lengths of themanipulator.

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators