DOI: 10.1109/iccas.2013.6704081
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Abstract: This paper examined the parallel mechanisms such as Stewart-Gough platform, for which an algorithm for determining the groups of linearly dependent screws that arise in singular condition. The algorithms to determine the model of mechanism take into account singularities configuration based on screw theory are proposed, the criterion of closeness to singularity is determined, the basic impact modeling results of parallel mechanisms. The research results on issues of singular condition of the parallel mechanis…

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