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

<div>A singular configuration of the 3-US parallel robot.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 

Figure 6 | Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 