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    Dynamic modelling and properties analysis of 3RSR parallel mechanism considering spherical joint clearance and wear

    The collision and wear caused by inevitable clearance in kinematic pair have an effect on the dynamic characteristics of the mechanism. Therefore, we established the dynamic model of a 3RSR (R is the revolute ...

    Yu-lei Hou 侯雨雷, Yun-jiao Deng 邓云蛟, Da-xing Zeng 曾达幸 in Journal of Central South University (2021)