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Table 1

Geometric and motion parameters of the hybrid mechanism and Stewart platform.

Variable Value Variable Value
ra (mm) 190 ϕr min (deg) –45
rb (mm) 190 ϕr max (deg) 45
q min (mm) 175 ϕs min (deg) –20
q max (mm) 250 ϕs max (deg) 20

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