Mathematical Problems in Engineering

Research Article

Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms

Table 4

Type synthesis based on the subspace presented in Figure 3(a).
206181.table.004a Constraint-space atlas of each limb Freedom-space atlas Model and kinematic joints of each limb
1st limb206181.table.004b206181.table.004c206181.table.004d
2nd limb206181.table.004e206181.table.004f206181.table.004g
3rd limb206181.table.004h206181.table.004i206181.table.004j
Synthesis result 206181.table.004k