Research Article
Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms
Figure 8
DTG with (a), an r-DTG with (b), four 5-DoF hybrid PMs with 1 and 1 (c1–c4), a DTG with (d), an r-DTG with (e), and four 5-DoF hybrid PMs with 1 and 1 (f1–f4).