Changing Assembly Modes without Passing Parallel Singularities in   Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
  This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness). While the results are purely theoretical, this paper questions the very definition of parallel singularities. 
Ilian Bonev (GPA), S\'ebastien Briot (GPA), Philippe Wenger (IRCCyN),   Damien Chablat (IRCCyN)