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Chinese Journal of Mechanical Engineering

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

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