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Submitted on: 27 February 2018.
Revised on: 14 April 2018.
Accepted on: 26 May 2018.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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Submitted on: 15 December 2000.
Revised on: 30 January 2001.
Accepted on: 10 February 2001.
___________________Journal of Mechanisms and Robotics-Transactions of the ASME
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