Type Synthesis Based on Modular Combination with Virtual Rotation Center and Application

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/ijrm/volume-2022/5216327/figures/5216327.fig.009a.svgz" name="5216327.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Spherical sub-kinematic linkage units</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijrm/volume-2022/5216327/figures/5216327.fig.009b.svgz" name="5216327.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Plane sub-kinematic linkage units</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/ijrm/volume-2022/5216327/figures/5216327.fig.009c.svgz" name="5216327.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Translational sub-kinematic linkage units</td></tr></table>

<div>Subkinematic linkage units of series robot.</div>

International Journal of Rotating Machinery

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Figure 9

Figure 9: Type Synthesis Based on Modular Combination with Virtual Rotation Center and Application 