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

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Mathematical Problems in Engineering

fig15

Figure 15

Figure 15: Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 

Figure 15 | Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the Motion/Force Transmissibility and Constrainability 