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Mathematical Problems in Engineering
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Mathematical Problems in Engineering
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2013
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Article
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Fig 4
/
Research Article
Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator
Figure 4
Free body diagrams of the HDPM: (a) link
AB
, (b) link
BC
, (c) link
CD
, and (d) link
ED
.
(a)
(b)
(c)
(d)