Figure 7From: New Family of 3-DOF UP-Equivalent Parallel Mechanisms with High Rotational CapabilityWorkspace, singularity and rotational capability. a Workspace, b Singular configuration I, c Singular configuration II, d P1 and P2 reach their minimum stroke, e P1 and P2 reach their maximum stroke, f Rotational range with t = −320 mm, g Rotational range with t = −240 mmBack to article page