1. Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow 101000, Russia
2. Department of Fundamentals of Machine Design, Bauman Moscow State Technical University (BMSTU), Moscow 105005, Russia
3. Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy
4. LARM2: Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, 00133 Rome, Italy