Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
Diseño óptimo de un 6-DOF 4-4 manipulador paralelo con singularidades desacopladas

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Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities. 4-6 parallel manipulator (a), and its kinematically equivalent 4-4 manipulator (b).

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Documents:

Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities [Streambook]

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Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_image_28853023.html

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Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
Diseño óptimo de un 6-DOF 4-4 manipulador paralelo con singularidades desacopladas

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Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled SingularitiesDiseño óptimo de un 6-DOF 4-4 manipulador paralelo con singularidades desacopladas

Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
Diseño óptimo de un 6-DOF 4-4 manipulador paralelo con singularidades desacopladas