Table 3 Configuration synthesis of the actuating limb

2R1T

2

(RR)_⊥P, UP

3R1T

2

SP, (RR)_⊥C, UC, SC

3

(RR)_⊥R_⊥P, (RR)_⊥PR, UR_⊥P, UPR, SR_*P, UR_⊥C, SPR, UPU,UCR, (RC)_⊥U, SP_*U,SC_*R, (RR)_⊥C_⊥U, (RR)_⊥P_⊥S, UPS, UC_⊥U

4,5

(RR)_⊥R_⊥R_⊥P, UR_⊥R_⊥P, (RR)_⊥R_⊥P_*R, (RR)_⊥R_⊥C, UR_⊥P_*R, (RR)_⊥P_*R_⊥R, (RC)_⊥R_⊥R, (RR)_⊥P_*U, (RR)_⊥C_⊥R, UP_*R_⊥R, UR_⊥P_*U, SP_*R_*R, (RR)_⊥P_⊥R_⊥U, UP_⊥R_⊥U