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In this regard, by focusing on the planar 5R mechanism, a theorem is given in terms of the slope of its coupler curve at the parallel singular configurations. At high-order parallel singularities, the associated determinant vanishes simultaneously with at least its first-order time derivative. The determination of such singularities is quite important since in their presence, some special conditions should be satisfied for bounded inverse dynamic solutions.<\/jats:p>","DOI":"10.1017\/s0263574718000966","type":"journal-article","created":{"date-parts":[[2018,9,20]],"date-time":"2018-09-20T11:23:05Z","timestamp":1537442585000},"page":"233-245","source":"Crossref","is-referenced-by-count":9,"title":["High-order singularities of 5R planar parallel 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