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Keywords: singularity avoidance
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Journal Articles
Journal:
Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2024, 146(9): 093302.
Paper No: MD-23-1505
Published Online: March 5, 2024
.... Around the unique structural features of this mechanism, its inverse kinematic solution and Jacobian matrix are calculated, and a coupled motion relation between a key limb and its moving platform (MP) is presented. In order to achieve singularity avoidance, some typical singularity configurations based...
