Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Representation of the motion of the moving platform in a 2DOF rotational manipulator: (a) two parameters and (b) three parameters

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Pointing device I based on a gimbal structure. (a) Gimbal structure and (b) proof-of-concept pointing device.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Second pointing device made of a SPM. (a) 1-RR&2-RRR SPM and (b) proof-of-concept pointing device.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Third pointing device made of an ESPR manipulator. (a) 4-4R ESPR parallel manipulator and (b) proof-of-concept pointing device.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Kinematic model of a gimbal manipulator. (a) Kinematic model and (b) coordinate transformation.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Kinematic model of a FCOR pointing manipulator. (a) Kinematic model and (b) coordinate transformation.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Kinematic model of the ESPR pointing manipulator. (a) Kinematic model and (b) coordinate transformation.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Simulations of revolution and spinning motion: (a) device I, (b) device II, and (c) device III

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Angular velocity composition diagrams corresponding to three pointing devices (a) device I, (b) device II, and (c) device III

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: The moving freedom disk patterns: (a) device I, (b) device II, and (c) device III

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Illustration of image distortion principle. (a) Three-dimensional view, (b) projective image of target on the camera plane, and (c) 2D view.

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Comparative Study on Motion Characteristics of Three Two-Degree-of-Freedom Pointing Mechanisms J. Mechanisms Robotics. 2016;8(2):021027-021027-10. doi:10.1115/1.4032403 Figure Legend: Projective views about distortion of the camera coordinate axes at different attitudes: (a) device I, (b) device II, and (c) device III