Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.

Abstract: The dimerization of HIV RNA is a key step in the virus replication cycle. Based on RNA DIS crystal structures, a novel kind of compounds, dimeric or not, based on neamine was designed and synthesized. Biological studies showed that such compounds bind and interfere with the targeted RNA sequence, opening a new anti-HIV approach. The crystal structures and bio-chemical experiments showed that the DIS of HIV-1 genomic RNA is a target for new anti-HIV drugs and that those drugs could be derived from aminoglycosides. The results revealed that binding of aminoglycosides to the DIS is specific regarding both the aminoglycoside family and the RNA subtype.

Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.