بوکان پینیون Persian joint. It is a modification of "Spherical 4R mechanism 2e" by adding more connecting rods for balancing. Because it is
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بوکان پینیون Modification of "Spherical 4R mechanism 2a" and "Spherical 4R mechanism 2b".Because it is a combination of two sphe
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بوکان پینیون The sphere has 2 degrees of freedom: rotation around its longitudinal axis and rotation around a horizontal axis. The sphere is kept by t
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