{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T11:56:32Z","timestamp":1767182192348,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2025,1,31]],"date-time":"2025-01-31T00:00:00Z","timestamp":1738281600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper examines the influence of the eight assembling modes of the 3-RRR planar manipulator on its workspace. The workspace is analyzed considering both first-type and second-type singularities. Understanding these issues is crucial in the process of designing such manipulators to avoid unfavorable cases. Additionally, a modular platform concept, suitable for experimental testing and informed by the numerical results presented here, is proposed. The outcomes of the experimental tests will be addressed in future work.<\/jats:p>","DOI":"10.3390\/robotics14020016","type":"journal-article","created":{"date-parts":[[2025,1,31]],"date-time":"2025-01-31T04:05:47Z","timestamp":1738296347000},"page":"16","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Assembly Modes and Workspace Analysis of a 3-RRR Planar Manipulator"],"prefix":"10.3390","volume":"14","author":[{"given":"Florentin","family":"Buium","sequence":"first","affiliation":[{"name":"Mechanical Engineering, Mechatronics and Robotics Department, \u201cGheorghe Asachi\u201d Technical University of Iasi, 43 D. Mangeron Blvd, 700050 Iasi, Romania"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0054-5791","authenticated-orcid":false,"given":"Ioan","family":"Doroftei","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Mechatronics and Robotics Department, \u201cGheorghe Asachi\u201d Technical University of Iasi, 43 D. 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