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The article deals with the mechanics of modular machines and examines in detail the parameters of the principle of joining newly designed curved rotary modules into homogeneous serial kinematical chain with five degrees of freedom of movement. The result of analysis is generated workspace built on the basis of 60Â° curved rotary module with unlimited rotation for a serial kinematical structure with homogeneous 5DOF.

Curved rotary module for modular construction of motion structures