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Parallel mechanisms (PMs) having the same motion characteristic with a UP kinematic chain (U denotes a universal joint,and P denotes a prismatic joint) are called UP-equivalent PMs.They can be used in many applications,such as machining and milling.However,the existing UP-equivalent PMs suffer from the disadvantages of strict assembly requirements and limited rotational capability.Type synthesis of UP-equivalent PMs with high rotational capability is presented.The special 2R1T motion is briefly discussed and the fact that the parallel module of the Exechon robot is not a UP-equivalent PM is disclosed.Using the Lie group theory,the kinematic bonds of limb chains and their mechanical generators are presented.Structural conditions for constructing such UP-equivalent PMs are proposed,which results in numerous new architectures of UP-equivalent PMs.The high rotational capability of the synthesized mechanisms is illustrated by an example.The advantages of no strict assembly requirements and high rotational capability of the newly developed PMs will facilitate their applications in the manufacturing industry.