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

Chinese Journal of Mechanical Engineering

Table 5 UP-equivalent PMs in group 1 in category5-5-4

{L₁} = {L₃} = {R(O, u)}{R(O, v)}{G(u)},{L₂} = {R(O, u)}{G(v)}
2-^uvU^kPRR/^uvU^vPR 2-^uvU^kPRR/^uvU^vRP 2-^uvU^kPRR/^uvU^vRR 2-^uvU^kPRR/^uR^vPRR 2-^uvU^kRRR/^uvU^vPR 2-^uvU^kRRR/^uR^vPRR	2-^uvU^kRRP/^uvU^vPR 2-^uvU^kRRP/^uvU^vRP 2-^uvU^kRRP/^uvU^vRR 2-^uvU^kRRP/^uR^vPRR 2-^uvU^kRRR/^uvU^vRP	2-^uvU^kRPR/^uvU^vPR 2-^uvU^kRPR/^uvU^vRP 2-^uvU^kRPR/^uvU^vRR 2-^uvU^kRPR/^uR^vPRR 2-^uvU^kRRR/^uvU^vRR