Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The PHJM: (a) the system of the PHJM and (b) the topology of the parallel PHJM

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The discretization of the PHJM: (a) the discrete system of the PHJM and (b) c-bar unit

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The movement laws of the moving platform: (a) the displacement of node 2, (b) the displacement of node 4, and (c) the displacement of node 6

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The node displacement of the moving platform

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The length of the driving rods

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The coordinate of node 4

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The forward position solution

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The nodal velocity of the moving platform: (a) the velocity of node 2, (b) the velocity of node 4, and (c) the velocity of node 6

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The velocity of the driving rods

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The velocity of node 4

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The velocity of the moving platform

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The nodal acceleration of the moving platform: (a) the acceleration of node 2, (b) the acceleration of node 4, and (c) the acceleration of node 6

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The acceleration of the driving rods

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The acceleration of node 4

Date of download: 12/25/2017 Copyright © ASME. All rights reserved. From: Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator J. Mechanisms Robotics. 2015;7(4):041010-041010-10. doi:10.1115/1.4028623 Figure Legend: The acceleration of the moving platform