RT Journal T1 A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator A1 Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG PB Front. Mech. Eng. FD 2015-04-01 YR 2015 JF Frontiers of Mechanical Engineering JO Front. Mech. Eng. VO 10 IS 1 SP 7 DO 10.1007/s11465-015-0324-3 K1 parallel mechanism;concomitant motions;kinematics;workspaces;error model LK {https://journal.hep.com.cn/fme/EN/article/article_12007.shtml}