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The four-degrees of freedom (dof) manipulators whose end effector performs only Schoenflies motions are named Schoenflies-motion generators (SMGs). The most known SMGs are the serial robots named SCARA. In the literature, parallel manipulators (PMs) have also been proposed as SMGs. Here, a novel single-loop SMG of type 2<jats:underline>P<\/jats:underline>R<jats:underline>P<\/jats:underline>U is studied. Its position analysis, singularity loci and workspace are addressed to provide simple analytic and geometric tools that are useful for the design. The proposed single-loop SMG is not overconstrained, its actuators are on or near the base and its end effector can perform a complete rotation. These features solve the main drawbacks that parallel SMG architectures have in general and make the proposed SMG a valid design alternative.<\/jats:p>","DOI":"10.1017\/s0263574718000899","type":"journal-article","created":{"date-parts":[[2018,9,10]],"date-time":"2018-09-10T08:43:46Z","timestamp":1536569026000},"page":"141-160","source":"Crossref","is-referenced-by-count":7,"title":["Position analysis, singularity loci and workspace of a novel 2<u>P<\/u>R<u>P<\/u>U Schoenflies-motion generator"],"prefix":"10.1017","volume":"37","author":[{"given":"Henrique","family":"Simas","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3925-3016","authenticated-orcid":false,"given":"Raffaele","family":"Di Gregorio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,9,10]]},"reference":[{"key":"S0263574718000899_ref26","first-page":"173","article-title":"Kinematics and singularity analysis of a CRRHHRRC parallel Sch\u00f6nflies motion generator","volume":"38","author":"Harada","year":"2014","journal-title":"CSME Trans."},{"key":"S0263574718000899_ref25","doi-asserted-by":"publisher","DOI":"10.4173\/mic.2014.1.2"},{"key":"S0263574718000899_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.06.001"},{"volume-title":"A Treatise on the Theory of Screws","year":"1900","author":"Ball","key":"S0263574718000899_ref15"},{"key":"S0263574718000899_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"S0263574718000899_ref18","doi-asserted-by":"crossref","unstructured":"D. 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Nabat , M. de la O Rodriguez , O. Company , S. Krut and F. Pierrot , \u201cPar4: Very High Speed Parallel Robot for Pick-and-Place,\u201d Proceedings of the 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 553\u2013558.","DOI":"10.1109\/IROS.2005.1545143"},{"key":"S0263574718000899_ref30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002732"},{"volume-title":"Theory of Machines and Mechanisms","year":"1995","author":"Shigley","key":"S0263574718000899_ref16"},{"key":"S0263574718000899_ref21","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826720"},{"key":"S0263574718000899_ref7","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES258"},{"key":"S0263574718000899_ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.4003690"},{"key":"S0263574718000899_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905053688"},{"key":"S0263574718000899_ref4","doi-asserted-by":"crossref","unstructured":"F. Pierrot and O. 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