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Item type:Publication, Access status: with files , Modellierung einer mobilen Hybridkinematik und Umsetzung am Beispiel der FlugzeuginspektionThis Thesis deals with kinematic modelling of a mobile hybrid mechanism. Essentially, methods for selecting the partial mechanism, a modular calculation method for the kinematic transformation, a novel approach to detect the proximity to singularities and a simulation tool to design and optimize the mechanical structure is developed. The methods are approved in practice by developing a mobile hybrid robot for aircraft inspection.Publicationtype: Doctoral Thesis827 2019