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An alternative design of a three-degrees-of-freedom manipulator based on the concept of an in-parallel actuated mechanism is presented. The manipulator has two degrees of orientation freedom and one degree of translatory freedom. The basic kinematic equations for use of the manipulator are derived and the influences of the physical constraints on the range of motion in the practical design are discussed. Several possible applications which include the in-parallel mechanism as part of the manipulation system are suggested.>
Lee et al. (Wed,) studied this question.