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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2017
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Article
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Fig 4
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Research Article
Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory
Figure 4
Spatial 2T1R DPMs.
(a)
P
CR-C
(
R
)
PRR-
P
PR
(b)
P
PRR-
P
CR-
P
PR
(c)
C
(
R
)
RR-C
(
P
)
RR-
P
PR