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Table 2 Actuation spaces of 3-RPS parallel mechanism

From: Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Type Reasonable actuation combination
2R1P RPS-RPS-RPS
3P RPS-RPS-RPS
2P1R RPS-RPS-RPS
3R RPS-RPS-RPS
  1. Underlined letters show the actuated pairs