Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/6768947/figures/6768947.fig.008a.svgz" name="6768947.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>3D view of the reachable workspace</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/6768947/figures/6768947.fig.008b.svgz" name="6768947.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Vertical view of the reachable workspace</td></tr></table>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Kinematics Performance and Dynamics Analysis of a Novel Parallel Perfusion Manipulator with Passive Link 