Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Reciprocal screws

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: A 2-RPS-1-SPR parallel mechanism

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: A PPL

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Reciprocal screw systems of three 4-$0-systems: (a) S⊥ is a 1-$∞-1-$0-system, (b) S⊥ is a special 2-$0-system, and (c) S⊥ is a general 2-$0-system

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Intersection of two PPLs: (a) Case I of a 1-$0-system, (b) Case II of a 1-$0-system, (c) Case III of 1-$0-system, and (d) Empty case

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Construction of a 3-PPL-system of order 5 using Eq. (4): (a) Case 5b, (b) Case 5c, (c) Case 5d, and (d) Case 5e

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Characteristics of case 4c 2-PPL-system of order 4

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Singularity analysis of a 2-RPS-1-SPR parallel manipulator: (a) Wrench system and plane of constraint force pencil of an RPS leg, and (b) Manipulator in a singular configuration

Date of download: 10/6/2017 Copyright © ASME. All rights reserved. From: Classification of Screw Systems Composed of Three Planar Pencils of Lines for Singularity Analysis of Parallel Mechanisms1 J. Mechanisms Robotics. 2014;6(2):021008-021008-10. doi:10.1115/1.4026340 Figure Legend: Construction of a 3-PPL-system of order 5 using Eq. (3)