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Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

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Academic year: 2020

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Figure

Fig. 1. 3PSU-1SPM.
Fig. 3. Screws associated to the 3PSU-1S PM.
Fig. 5. Performance of the PM according to its design parameters.
Fig. 6. Local characteristics of the PMs with maximum indexes.
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