Figure 1
From: Type Synthesis of Lower Mobility Parallel Mechanisms: A Review
Typical lower mobility PMs: a the Delta robot (https://new.abb.com/products/robotics/industrial-robots/irb-360); b the H4 robot [13]; c the agile eye (https://robot.gmc.ulaval.ca/en/research/research-thrusts/parallel-mechanisms/the-agile-eye/); d the Z3 spindle head (http://www.ds-technologie.de); e the Tricept robot (http://www.pkmtricept.com/); and f the Exechon robot (http://unisonltd.com/innovation/exechon/)