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A 4-DOF (degrees of freedom) parallel manipulator with three translations and one rotation (3T1R) is very useful in industry. Most of the 3T1R parallel manipulators have limited rotational capabilities that usually have a range less than 90°. A novel 3T1R 2-(PRR)2RH hybrid manipulator with full rotational capability is proposed in this paper. The fixed platform of the hybrid manipulator connects the...
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