474602.fig.001a
(a)
474602.fig.001b
(b)
474602.fig.001c
(c)
474602.fig.001d
(d)
Figure 1: The CAD models of the A/B-axis tool head with parallel kinematics (P-prismatic joint, R-revolute joint, U-universal joint, H-helical joint, and the underlined joints are active.).