Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on lie group theory
作者： Sameh Refaat , Jacques M. Hervé , Saeid Nahavandi , Hieu Trinh
DOI: 10.1016/J.EUROMECHSOL.2005.11.001
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摘要: The paper introduces four families of three-DOFs translational-rotational Parallel-Kinematics Mechanisms (PKMs) as well the mobility analysis such using Lie group theory. Two these are mechanisms with one-rotational two-translational degrees freedom (DOFs) and each other two has one-translational two-rotational DOFs. Four novel presented discussed representatives families. Although asymmetric, components used to realise them very similar and, hence, there is no great departure from favourable modularity parallel-kinematics mechanisms.
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