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Analysis of synthesis parameters reveals key geometric parameters for end effector positioning in spatial parallel manipulators, indicating improved design efficiency.
Unlike anthropomorphic manipulators, spatial parallel manipulators (SPM) provide specified movements or discrete positions of the end effector with certain fixed geometric parameters of the structural modules (SM) of the SPM. The determination of the fixed geometric parameters, referred to as synthesis parameters, based on the given laws of motion or discrete positions of the end effector and input links, constitutes the synthesis task of the SPM.
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Жумашева et al. (2025) studied this question.
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