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

Chinese Journal of Mechanical Engineering

Table 3 5-D limb bonds of UP-equivalent PMs

{L_i}	MG of {L_i}
{R(O, u)}{R(O, v)} {G(k)}	^uR^vR^kRRP, ^uR^vR^kRPR, ^uR^vR^kPRR, ^uR^vR^kRRR, ^uvU^kRRP, ^uvU^kRPR, ^uvU^kPRR, ^uvU^kRRR

The underline in ^kRRP, ^kRPR, ^kPRR, and ^kRRR denotes that they are MGs of {G(k)}