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CYLINDRICAL, MECHANICAL, PRISMATIC, MECHANISM, REVOLUTE, ROTATION, ACTUATOR, COUPLING, SHOULDER, BEARING, LINKAGE, CONTROL, SLIDER, SOCKET, PLANAR, PULLEY, LINEAR, MOTION, ROTATE, ANCHOR, JOINT, HINGE, PIVOT, SCREW, CHAIN, SERVO, MOTOR, SLIDE, WRIST, ELBOW, ANKLE, BALL, GEAR, BELT, AXIS, FLEX, BEND, MOVE, KNEE, ROLL