Type Synthesis of 2T1R Decoupled Parallel Mechanisms Based on Lie Groups and Screw Theory

Figure 3

Spatial 2T1R DPMs.

(a) UU-C(P)RR-PPR

(b) RUU-PCR-PPR

(c) PRRU-C(P)RR-PPR

(d) PRRU-PCR-PPR