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The online version of the original article can be found at http://dx.doi.org/10.1007/s00170-003-1934-1
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Zhao, JS., Zhou, K., Feng, ZJ. et al. The singularity study of spatial hybrid mechanisms based on screw theory. Int J Adv Manuf Technol 25, 1060–1061 (2005). https://doi.org/10.1007/s00170-004-2228-y
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DOI: https://doi.org/10.1007/s00170-004-2228-y