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

Chinese Journal of Mechanical Engineering

Table 4 5-D limb bonds of UP-equivalent PMs

{L_i}	MG of {L_i}
{R(O, i)}{R(O, j)}{G(s)}	ⁱR^jR^sRRP, ⁱR^jR^sRPR, ⁱR^jR^sPRR, ⁱR^jR^sRRR, ^ijU^sRRP, ^ijU^sRPR, ^ijU^sPRR, ^ijU^sRRR

The underline in ^sRRP, ^sRPR, ^sPRR, and ^sRRR denotes that they are MGs of {G(s)}