© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. ; Parallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some arrangements, despite their theoretical interest, are of doubtful practical utility due to their sensitivity to errors and the presence in their workspaces of mixed-modes that involve both translations and rotations. The introduction of some sort of asymmetry has been revealed of relevance to come up with more robust designs. In this context, we present an asymmetric 3-P robot, that can be reconfigured to work either as a translational or as a rotational robot by simply flipping upside down its moving platform. ; Peer Reviewed ; Postprint (author's final draft)


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