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The Reconfigurable Planar Parallel Manipulator (RPPM) is designed to allow formation of all major revolute-jointed planar parallel manipulator/mechanism designs. Three configurations are possible including a single-loop 2-DOF 5-bar, a single-loop 3-DOF 6-bar, and a three-loop 3-DOF 8-bar device (3-RRR). The 8-bar configuration is shown below. The RPPM is used to test theories on redundant actuation/sensing of parallel manipulators.