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(a) workspace for actuation 1
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(b) workspace for actuation 2
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(c) workspace for actuation 3
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(d) workspace for actuation 4
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(e) workspace for actuation 5
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(f) workspace for actuation 6
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(g) workspace for actuation 7
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(h) workspace for actuation 8
Figure 5: Workspace of actuation schemes for 3RPR manipulator.