Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability

<div>A planar 3-RRR parallel robot.</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 

Figure 12 | Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 