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In the result we get a following kinematic chains: [??][(RRRE).sub.[parallel]], [??][(PRRE).sub.[parallel]], [??][(PPRE).sub.[parallel]] (fig.
After the linear independent check of the screws remain a four kinematic chain: P[(RRRE).sub.[parallel]], P[(PRRE).sub.[parallel]], P[(PPRE).sub.[parallel]] (fig.