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Abstract
In this paper, the methods of structurally parametric synthesis and position analysis of a RoboMech class parallel manipulator with two end-effectors are presented. This parallel manipulator is formed by connecting the two moving output objects with the fixed base by two passive, one active and two negative closing kinematic chains. Geometrical parameters of the active and negative closing kinematic chains are determined by the Chebyshev and least-square approximations. Position analysis is made on base of the conditional generalized coordinates method.
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