[ASME ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Brooklyn, New York, USA (August 3–6, 2008)] Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B - Parameterization of Three-Dimensional Rigid Body Guidance Incorporating Planar Gear Connections in a Spatial Closed-Loop Mechanism With Parallel Consecutive Axes

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