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    Variational Integrators on Manifolds for Constrained Mechanical Systems 

    Source: Journal of Applied Mechanics:;2024:;volume( 091 ):;issue: 007:;page 71009-1
    Author(s): Lin, Ziying; Li, Hongchen; Ding, Ye; Zhu, Xiangyang
    Publisher: The American Society of Mechanical Engineers (ASME)
    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 ...
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    A 2R1T Redundantly Actuated Parallel Manipulator With an Offset Moving Platform and Fixed Linear Actuators 

    Source: Journal of Mechanisms and Robotics:;2023:;volume( 015 ):;issue: 004:;page 41016-1
    Author(s): Lin, Ziying; Xu, Lingmin; Ding, Ye; Zhu, Xiangyang
    Publisher: The American Society of Mechanical Engineers (ASME)
    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 ...
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