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Table 2 Limited configuration parameters of the spherical mechanism

From: Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Limited configuration φ (°) \(\lambda\) (°) Configuration of the mechanism
1 49.8502 − 67.5085
2 49.8502 67.5085
3 95.8430 0
4 11.5519 0