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RISA Representation of the Euclidean Group by Spin Groups, and Spatial Kinematics Mappings
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new derivation of the spin and biquaternion representation of the Euclidean group is presented. The derivation is based upon the even Clifford algebra representation of the orientation preserving ...
On Calculating the Degrees of Freedom or Mobility of Overconstrained Linkages: Single-Loop Exceptional Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper reformulates and extends the new, group theoretic, mobility criterion recently developed by the authors, (, and , 2003, ASME J. Mech. Des., 125, pp. 70–80). In contrast to the ...
A More General Mobility Criterion for Parallel Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This contribution presents a more general mobility criterion applicable to parallel platforms, unlike previously employed mobility criteria based on the well-known Kutzbach-Grübler criterion ...