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Table 1 5-DoF limb structures for 2T3R PKM

From: A Finite and Instantaneous Screw Based Approach for Topology Design and Kinematic Analysis of 5-Axis Parallel Kinematic Machines

Standard limbs Derivative limbs
SP1P2 UP1P2Rc, UP1RcP2
SP1Rc, SRcRc
UP1RcRc, SRcP1