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Analyzing Kinematics of a Novel 3CPS Parallel Manipulator Based on Rodrigues Parameters

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Figure

Fig. 1.  The 3CPS parallel manipulator; a) a prototype of the active adjusting platform, and b) the topological structure of the active adjusting platform
Fig. 2.  Variations in the six pose parameters; a) position variations (Xo, Yo, Zo), and b) orientation variations (α, β, γ)
Fig. 5.  Acceleration variations in the driving legs; a) acceleration variations in the vertical legs, and  b) acceleration variations in the horizontal legs
Fig. 7.  Error between designed trajectories and experimental

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