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{\samepage \clearpage \begin{figure}% latex2html id marker 30
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\scriptsize
\put(1.10,11.51){$y$}
\put(6.09,7.09){$x$}
\put(3.25,9.35){$C$}
\put(4.74,9.22){$x_r$}
\put(3.94,11.19){$y_r$}
\put(3.52,8.66){$B_2$}
\put(2.13,9.53){$B_1$}
\put(3.86,10.47){$B_3$}
\put(1.45,11.95){$A_3$}
\put(4.54,7.12){$A_2$}
\put(1.19,7.11){$A_1$}
\put(2.39,7.64){$\phi$}
\put(5.61,7.93){$\psi$}
\put(3.18,11.74){$\psi_3$}
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\end{center} 
\caption {\label{figrpr} The 3-RPR robot}
\end{figure}
}


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\put(1.28,7.63){$O_A$}
\put(3.04,7.54){$\phi$}
\put(8.05,7.95){$\psi$}
\put(6.58,7.45){$O_B$}
\put(5.76,7.42){$p$}
\put(5.05,7.38){1}
\put(2.39,8.73){2}
\put(2.83,8.56){$r$}
\put(7.00,8.74){4}
\put(6.90,9.41){$s$}
\put(3.25,9.45){$A$}
\put(3.81,10.53){$\lambda$}
\put(3.16,11.25){$b$}
\put(5.29,11.83){$a$}
\put(4.86,12.24){coupler}
\put(4.00,13.01){$C$}
\put(3.90,11.77){$\gamma$}
\put(1.83,12.38){$y$}
\put(9.13,7.22){$x$}
\put(5.02,9.99){3}
\put(5.81,10.35){c}
\put(6.60,10.93){$B$}
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\end{center} 
\caption {\label{fig1} A four bar mechanism}
\end{figure}
}


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{\samepage \clearpage $r, s, r3$
}


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{\samepage \clearpage \begin{figure}% latex2html id marker 114
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\put(2.00,10.53){$\phi$:-153.77 $\psi$:169.59 $\psi_3$:159.99}
\put(6.03,10.54){$\phi$:-11.61 $\psi$:132.13 $\psi_3$:-120.00}
\put(2.00,7.95){$\phi$:174.07 $\psi$:158.20 $\psi_3$:120.01}
\put(6.03,7.93){$\phi$:-5.12 $\psi$:57.85 $\psi_3$:45.00}
\put(2.00,5.38){$\phi$:-111.55 $\psi$:-106.57 $\psi_3$:-45.00}
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\end{center} 
\caption {Solutions of the forward kinematics}
\end{figure}
}


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\end{center} 
\caption {Example of coupler curves and circle}
\end{figure}
}



\end{document}