Abstract: Addressing the issue of angle multiplicity in solving joint angles using cosine expressions within the context of conformal geometric algebra for inverse kinematics analysis, an extended method for joint angle determination ...

Abstract: This paper deals with a 2DOF (degreesoffreedom) 34R parallel manipulator (PM) with planar base and platform—a novel PM with multiple operation modes (or disassembly free reconfigurable PM) that can use the minimum number ...

Abstract: This paper deals with a 6R single-loop overconstrained spatial mechanism that has two pairs of revolute joints with intersecting axes and one pair of revolute joints with parallel axes. The 6R mechanism is first constructed ...

Abstract: This paper presents a novel geometric modeling method for direct displacement analysis of 6-4 Stewart platforms based on conformal geometric algebra (CGA). First, a geometric constraint relationship of four lines and a ...