Ai = Prismatic joints along the horizontal circular guide Bi = Spherical joints on the moving platform Ci = Prismatic joints on the vertical columns (i = 1,2,3) {F} = Fixed global reference frame {M} = Moving frame α, β, γ = ZYX Euler angles of rotation about the three joint axes of rider. α', β', γ', δ' = ZYXZ’ Euler angles of rotation about the four joint axes of chair on the moving platform ...