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. Author manuscript; available in PMC: 2013 Sep 13.
Published in final edited form as: Int J Med Robot. 2012 Jun 8;9(3):305–316. doi: 10.1002/rcs.1440

Fig. 10.

Fig. 10

The front (back) planar mechanism of different parallel robots: (a) our robot, (b) MrBot, (c) Twin Pantograph, and (d) SABiR. All of them have 5 joints and 5 linkages. In (a) and (b), two joints are prismatic, but in (c) and (d), all joints are revolutionary. This figure shows kinematic similarity within these robots.