...Zhen Wu; Qinchuan Li; Wei Ye This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable...

... is to calculate the outcrossing rate. Given that the errors in robotic manipulators are very small, the closed-form solution to the covariance of the joint distribution of the pose error and its derivative is first derived by means of the Lie group theory. Then, by decomposing the outcrossing event of the pose...

... then used for synthesizing 11 novel reconfigurable parallel mechanisms, providing a foundation for a development of reconfigurable mechanisms. reconfigurable parallel mechanisms motion branch type synthesis bifurcation Lie group transformation configuration space mechanism synthesis Since...

...Chung-Ching Lee; Jacques M. Hervé Based on the Lie-group-algebraic properties of the displacement set, the three-degree-of-freedom (3DOF) pseudoplanar motion often termed Y motion for brevity is first introduced. Then, all possible general architectures of the mechanical generators of a given Y...