Abstract: A hierarchical approach for the lightweight design of a 3-SPR parallel mechanism (PM) is presented in this paper. The criterion to match the rigidities of the limb body and those of the joints is proposed; meanwhile, the ...

Abstract: Drawing mainly on the concepts of dual space and dual basis in linear algebra and on existing screw theory, this paper presents a novel and systematic approach for the force/motion transmissibility analysis of 6DOF parallel ...

Abstract: By drawing on the duality of twist space and wrench space, this paper presents a general and systematic approach for force/motion transmissibility analysis of lower mobility nonredundant and nonoverconstrained parallel ...

Abstract: Mainly drawing on screw theory and linear algebra, this paper presents an approach to determining the bases of three unknown twist and wrench subspaces of lower mobility serial kinematic chains, an essential step for ...