| contributor author | Sánchez-García, A. J. | |
| contributor author | Rico, J. M. | |
| contributor author | Cervantes-Sánchez, J. J. | |
| contributor author | López-Custodio, P. C. | |
| date accessioned | 2022-02-05T21:39:56Z | |
| date available | 2022-02-05T21:39:56Z | |
| date copyright | 3/15/2021 12:00:00 AM | |
| date issued | 2021 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_13_3_031113.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4276092 | |
| description abstract | This contribution presents a screw theory-based method for determining the mobility of fully parallel platforms. The method is based on the application of three stages. The first stage involves the application of the intersection of subalgebras of Lie algebra, se(3), of the special Euclidean group, SE(3), associated with the legs of the platform. The second stage analyzes the possibility of the legs of the platform generating a sum or direct sum of two subalgebras of the Lie algebra, se(3). The last stage, if necessary, considers the possibility of the kinematic pairs of the legs satisfying certain velocity conditions; these conditions reduce the platform’s mobility analysis to one that can be solved using one of the two previous stages. Several examples are illustrated. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE(3) and Its Subspaces | |
| type | Journal Paper | |
| journal volume | 13 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4050096 | |
| journal fristpage | 031113-1 | |
| journal lastpage | 031113-11 | |
| page | 11 | |
| tree | Journal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 003 | |
| contenttype | Fulltext | |
