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Cited article:

A constraint-flow based method of synthesizing XYθ compliant parallel mechanisms with decoupled motion and actuation characteristics

Haiyang Li, Yijie Liu, Zhipeng Wang, Chuyang Leng, Zhen Zhang and Guangbo Hao
Mechanism and Machine Theory 178 105085 (2022)
https://doi.org/10.1016/j.mechmachtheory.2022.105085