3-URU ((DYMO))
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The 3-URU Double Y Multi-Operational (DYMO) Parallel Mechanism boasts three legs with two universal joints and a revolute joint each. This intriguing manipulator offers diverse platform motion systems in various configurations, leading to distinct operational modes. In total, there are five operation modes separated by constraint singularities. The project was part of a friend's thesis, currently under construction, successfully controlling its end-effector. Here's wishing Mr. Ebrahimi success throughout his life's stages.
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