1. 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): doi: /
Figure Legend:
The PHJM: (a) the system of the PHJM and (b) the topology of the parallel PHJM

2. 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): doi: /
Figure Legend:
The discretization of the PHJM: (a) the discrete system of the PHJM and (b) c-bar unit

3. 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): doi: /
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

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): doi: /
Figure Legend:
The node displacement of the moving platform

5. 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): doi: /
Figure Legend:
The length of the driving rods

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): doi: /
Figure Legend:
The coordinate of node 4

7. 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): doi: /
Figure Legend:
The forward position solution

8. 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): doi: /
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

9. 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): doi: /
Figure Legend:
The velocity of the driving rods

10. 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): doi: /
Figure Legend:
The velocity of node 4

11. 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): doi: /
Figure Legend:
The velocity of the moving platform

12. 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): doi: /
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

13. 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): doi: /
Figure Legend:
The acceleration of the driving rods

14. 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): doi: /
Figure Legend:
The acceleration of node 4

15. 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): doi: /
Figure Legend:
The acceleration of the moving platform