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Three limbs are symmetrically distributed between the base and end-effector; upper and lower parts of each limb are mirror symmetrical around the middle. The geometry, mobility, forward\/inverse kinematics, workspace, and parasitic motion of the mechanism are analyzed, showing its ability to achieve large rotations around a continuous rotation axis. Finally, a structure synthesis strategy for variable spherical symmetrical PM is proposed, and several limb types meeting the conditions are obtained.<\/jats:p>","DOI":"10.1017\/s026357472000154x","type":"journal-article","created":{"date-parts":[[2021,5,17]],"date-time":"2021-05-17T10:24:05Z","timestamp":1621247045000},"page":"1834-1848","source":"Crossref","is-referenced-by-count":8,"title":["Investigation of a novel 2R1T parallel mechanism and construction of its variants"],"prefix":"10.1017","volume":"39","author":[{"given":"Jingfang","family":"Liu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4152-6677","authenticated-orcid":false,"given":"Xiangmeng","family":"Fan","sequence":"additional","affiliation":[]},{"given":"Huafeng","family":"Ding","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,5,17]]},"reference":[{"doi-asserted-by":"publisher","key":"S026357472000154X_ref4","DOI":"10.1016\/j.mechmachtheory.2010.01.008"},{"doi-asserted-by":"publisher","key":"S026357472000154X_ref23","DOI":"10.1155\/2013\/249103"},{"doi-asserted-by":"publisher","key":"S026357472000154X_ref5","DOI":"10.1017\/S0263574799001678"},{"doi-asserted-by":"publisher","key":"S026357472000154X_ref25","DOI":"10.1016\/j.mechmachtheory.2016.09.007"},{"doi-asserted-by":"publisher","key":"S026357472000154X_ref16","DOI":"10.1186\/s10033-018-0258-x"},{"key":"S026357472000154X_ref27","doi-asserted-by":"crossref","first-page":"903","DOI":"10.1016\/S0094-114X(97)00011-6","article-title":"Position analysis of a 3-DOF parallel manipulator.","volume":"32","author":"Qing-Zeng","year":"1997","journal-title":"Mech. 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