In page 031006-4, the second paragraph below Eq. (13)
“In this way, all the topological graphs of non-fractionated 2-DOF kinematic chains of up to 15 links are synthesized: 3 topological graphs for 7-link kinematic chains, 35 topological graphs for 9-link kinematic chains, 753 topological graphs for 11-link kinematic chains, 27,496 topological graphs for 13-link kinematic chains, and 1,432,732 topological graphs for 15-link kinematic chains.”
The correct number is “1,432,730” rather than “1,432,732.”
The detailed number information for the atlas database of 15-link 2-DOF non-fractionated kinematic chains is shown in Table 1.