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Table 1 Constraint wrenches of 2R1T PMs with rotational bifurcation

From: A Novel Method for Type Synthesis of Parallel Mechanism Without Parasitic Motion Based on 2R1T Parallel Mechanism with Rotational Bifurcation

Wrenches of 2R1T PMs with rotational bifurcation
Case 1 Constraint forces are coplanar
Case 2  
Case 3 Constraint forces are planar convergences