“…Conformal (lower kinematic pairs) [6], [7], [8], [10], [20], [21], [25], [26], [27], [28], [29], [33], [34], [35], [36], [38], [40], [41], [43], [44], [45], [47], [48], [49], [50], [51] 26 Nonconformal (higher kinematic pairs) [6], [18], [19], [22], [23], [24], [27], [30], [31], [32], [37], [39], [40], [42], [46], [52], [53] 17…”