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Table 1 Volume distribution of 2RPU/UPR PM with different step sizes

From: Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator

Step size ε (mm)

Volume V (mm3)

Average volume V (mm3)

2.0

11 276

11 290

2.5

11 288

3.0

11 268

3.5

11 318

4.0

11 220

4.5

11 370