Type Synthesis of 5-DoF Parallel Mechanisms with Different Submechanisms

Table 1

The number of the binary links and basic links in 17 spatial 5-DoF associated linkages (ALs).

Number	AL	,
1.1	AL1		2	0	0	0
2.3	AL2		0	2	0	0
3.7	AL3		0	0	2	0
3.8	AL4		2	0	0	1
2.1	AL5		4	0	0	0
2.2	AL6		2	1	0	0
3.3	AL7		2	2	0	0
3.2	AL8		4	1	0	0
3.5	AL9		3	0	1	0
3.6	AL10		1	1	1	0
3.1	AL11		6	0	0	0
4.3	AL12		4	2	0	0
4.2	AL13		6	1	0	0
4.11	AL14		5	0	1	0
3.4	AL15		0	3	0	0
4.6	AL16		4	0	0	1
5.7	AL17		7	0	1	0