In this paper, the self motions of a novel 3-DOF fully decoupled translational parallel robot, called the Pantopteron, are presented. The Pantopteron is similar to the well-known Cartesian parallel manipulator (Tripteron), but due to the use of pantograph linkages, an amplification effect is achieved. Therefore, equipped with the same actuators, the mobile platform of the Pantopteron moves faster than that of the Tripteron. This amplification is defined by the magnification factor of the pantograph linkages. The self motions are probably the most critical types of singularities a manipulator can meet. Therefore it is of utmost importance to have a good knowledge of them. Design considerations are also discussed in order to create Pantopterons without self motions.

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