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{\samepage \clearpage \begin{figure}% latex2html id marker 20
[hbtp] 
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\put(5.80,12.51){$B_2$}
\put(2.81,12.51){$B_3$}
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\end{center} 
\caption {\label{rs} The 3-RS mechanism}
\end{figure}
}


\newpage

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\put(5.35,13.37){$B_1$}
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\end{center} 
\caption {\label{not} Notation for the  3-RS mechanism}
\end{figure}
}


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{\samepage \clearpage \begin{figure}% latex2html id marker 61
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\put(4.18,6.57){base}
\put(2.62,12.56){double ball-and-socket joint}
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\put(4.48,8.41){universal joint}
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\put(8.13,12.31){$B_3$}
\put(8.70,11.40){$B_5$}
\put(7.19,8.60){$A_1$}
\put(2.73,10.25){$A_2$}
\put(8.69,9.90){$A_5$}
\put(7.32,8.93){$A_6$}
\put(7.53,10.60){$A_4$}
\put(4.39,10.19){$A_3$}
\put(7.35,11.85){$C$}
\put(5.90,10.53){${\bf z}$}
\put(7.24,9.21){${\bf x}$}
\put(4.73,8.90){${\bf y}$}
\put(7.03,11.21){${\bf x_r}$}
\put(7.58,12.59){${\bf z_r}$}
\put(2.78,9.03){$M_2$}
\put(7.25,7.12){$M_1$}
\put(8.16,7.80){$M_6$}
\put(8.86,8.66){$M_5$}
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\end{center} 
\caption {\label{stew} A possible mechanical architecture of a parallel
robot. By controlling the height of the Ai points we can control the
position/orientation of the moving platform}
\end{figure}
}


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{\samepage \clearpage \begin{figure}% latex2html id marker 114
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\put(7.50,5.97){y}
\put(6.81,7.34){z}
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\put(7.44,11.86){yr}
\put(6.89,12.99){zr}
\put(9.21,7.15){$A_1$}
\put(8.21,7.97){$A_2$}
\put(9.66,12.11){$B_1$}
\put(4.44,7.34){$A_3$}
\put(2.58,7.13){$A_4$}
\put(7.15,5.47){$A_5$}
\put(7.90,6.54){$A_6$}
\put(6.77,6.63){$O$}
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\end{center} 
\caption {\label{tssm} A possible mechanical architecture of a parallel
robot. By controlling the lengths of the legs we can control the
position/orientation of the moving platform}
\end{figure}
}


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