Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Kinematic analysis of the 3-RPR parallel manipulator   The aim of this paper is the kinematic study of a 3-RPR planar parallel
manipulator where the three fixed revolute joints are actuated. The direct and
inverse kinematic problem as well as the singular configuration is
characterized. On parallel singular configurations, the motion produce by the
mobile platform can be compared to the Reuleaux straight-line mechanism.

10
The categories of this paper are: q-bio
7
The categories of this paper are: hep-th
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics
31
The categories of this paper are: ao-sci
23
The categories of this paper are: solv-int
2
The categories of this paper are: math
8
The categories of this paper are: hep-ex
20
The categories of this paper are: acc-phys
24
The categories of this paper are: dg-ga
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph
15
The categories of this paper are: nucl-ex
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ