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Home › "Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel ""minimanipulator"" with three inextensible limbs"

"Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel ""minimanipulator"" with three inextensible limbs"

US Patent 5301566 · Granted Apr 12, 1994

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