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RISDirect Kinematic Analysis of the Spatial Parallel Mechanism With 3-R(P)S Structure Based on the Point Pair Relationship
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper demonstrates a novel geometric modeling and computational method of the family of spatial parallel mechanisms (PMs) with 3-R(P)S structure for direct kinematic analysis based on the point pair relationship. The ...
Conformal Geometric Algebra–Based Geometric Modeling Method for Forward Displacement Analysis of 6-4 Stewart Platforms
Publisher: The American Society of Mechanical Engineers (ASME)
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 ...