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Mechatronics, 2007,17:45-63. Liu. Optimal kinematic design of a three translational DOF parallel manipulator. Robotica, 2006, 24: 239-250. [24] Rong Yu, Jin Zhenlin,Qu Mengke. Statics analysis and optimal design of 3-DOF parallel mechanical leg. Transactions of the Chinese Society of Agriculture Engineeringm, 2012, 28(20): 41-49. [25] Rong Yu, Jin Zhenlin, Cui Bingyan. Configuration analysis and structure parameter design of six-leg agricultural robot with parallel-leg mechanism. Transactions of the Chinese Society of Agriculture Engineeringm, 2012, 28(15): 9-14.

2b and 2c). Journal of Biomimetics, Biomaterials and Biomedical Engineering Vol. 000x magnification). 50 Journal of Biomimetics, Biomaterials and Biomedical Engineering Vol. 20 Plastic deformation in material’s surface can be observed after the milling to powder form (G5) (Fig. 3a). However, the same smooth morphology with rough granular regions surface pattern observed in the as-received pellet form of the material was maintained (Fig. 2a). After 30 days in SBF solution, the powder sample (G6) exhibited smooth surfaces and delamination regions indicating material degradation (Fig.

Beijing: higher education press, 2007:253-298. [27] Liu X-J,Wang J. A new methodology for optimal kinematic design of parallel mechanisms. Mechanism and Machine Theory, 2007, 42(9): 1210-1224. [28] Timotej Kodek, Marko Munih. An analysis of static and dynamic joint torques in elbow flexion-extension movements. Simulation Modeling Practice and Theory, 2002, 11: 297-211. , Zhang X. , Zhao Y. , Wang H. R.. A Physical Model of The Solution Space and the Atlases of the Reachable Workspace for 2-DOF Parallel Planar Manipulators.

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