Abstract: Variational integrators play a pivotal role in the simulation and control of constrained mechanical systems. Current Lagrange multiplier-free variational integrators for such systems are concise but inevitably face issues ...

Abstract: Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering ...