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Based on the idea of multi-level manipulators and using the concept of plain leg surfaces, the synthesis of partially decoupled manipulators with five degrees of freedom is presented. Among the different possibilities that exist to design the main chain of the manipulator, one is selected and the different manipulators that can be obtained from this option are analyzed. The concept of control distribution per level is presented and compared with the distribution of degrees of freedom per level. Finally, each of the proposed manipulators is studied and those which decouple the rotations are chosen.<\/jats:p>","DOI":"10.1017\/s0263574715000533","type":"journal-article","created":{"date-parts":[[2015,7,3]],"date-time":"2015-07-03T14:57:51Z","timestamp":1435935471000},"page":"337-353","source":"Crossref","is-referenced-by-count":1,"title":["Control distribution of partially decoupled multi-level manipulators with five DOFs"],"prefix":"10.1017","volume":"35","author":[{"given":"M.","family":"Loizaga","sequence":"first","affiliation":[]},{"given":"O.","family":"Altuzarra","sequence":"additional","affiliation":[]},{"given":"Ch.","family":"Pinto","sequence":"additional","affiliation":[]},{"given":"V.","family":"Petuya","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,7,3]]},"reference":[{"key":"S0263574715000533_ref2","doi-asserted-by":"publisher","DOI":"10.1115\/1.1469549"},{"key":"S0263574715000533_ref34","doi-asserted-by":"publisher","DOI":"10.1080\/09540091.2014.948385"},{"key":"S0263574715000533_ref33","first-page":"1","article-title":"The forward kinematics of the 6-6 parallel manipulator using an evolutionary algorithm based on generalized generation gap with parent-centric crossover","volume":"32","author":"Rolland","year":"2014","journal-title":"Robotica"},{"key":"S0263574715000533_ref11","doi-asserted-by":"publisher","DOI":"10.5772\/58732"},{"key":"S0263574715000533_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824650"},{"key":"S0263574715000533_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.810232"},{"key":"S0263574715000533_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2014.03.006"},{"key":"S0263574715000533_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905053688"},{"key":"S0263574715000533_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021009314"},{"key":"S0263574715000533_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820853"},{"key":"S0263574715000533_ref26","doi-asserted-by":"publisher","DOI":"10.1177\/02783649020210090501"},{"key":"S0263574715000533_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.11.012"},{"key":"S0263574715000533_ref10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000063"},{"key":"S0263574715000533_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820853"},{"key":"S0263574715000533_ref3","doi-asserted-by":"crossref","unstructured":"S. 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