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Chinese Journal of Mechanical Engineering

Table 2 4-D limb bonds of UP-equivalent PMs

From: New Family of 3-DOF UP-Equivalent Parallel Mechanisms with High Rotational Capability

{L i }

MG of {L i }

{S(O)}{T(w)}

SwP

{R(O, u)}{G(v)}

uvUvPR, uvUvRP, uvUvRR

{R(O,u)}{R(O, v)}{R(O, w)}{T(w)}

uvUwRwP, uvUwC

{R(O, u)}{R(O, v)}{T(w)}{R(O, w)}

uvUwPwR

  1. The underline in vPR, vRP, and vRR denotes that they generate 2-D motion in {G(v)}
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