Traditionally structure of projected robots and manipulators gets out not on a scientific basis, and intuitively, leaning on experience and qualification of developers. Such approach allows to find comprehensible, however, not always rational, the decision. It is caused by that developers do not know all block diagrammes answering to entry conditions, and, hence, cannot analyses and choose them the best variant. Is offered structural synthesis of robots and manipulators to spend on the basis of scientific methods ? by means of the constructed structural mathematical models.
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