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Keywords: Lie group
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2023, 145(5): 053303.
Paper No: MD-22-1551
Published Online: February 10, 2023
...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...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2021, 143(4): 041704.
Paper No: MD-20-1555
Published Online: January 29, 2021
... 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...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1256–1264.
Published Online: December 18, 2006
...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...