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Modeling of working space and parameters optimization of the parallel mechanisms with the linear actuators located on the base with six kinematic chains are considered. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities, as criterion of optimization the maximum of working volume.
This paper addresses determination of constraint wrenches in singularities. The constraint wrenches imposed to the mobile platform by kinematic chains is proposed approach to rely on the theory of screws and influences of the criteria of singularity analysis to corresponding results for design of the parallel mechanisms. Further, using of the screw groups… (More)