Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on Lie group theory (Q2499227)

On the base of Lie group theory, the paper introduces four families of three-degree-of-freedom translational-rotational parallel-kinematics mechanisms and performs the mobility analysis of such families. Two of these families are mechanisms with one rotational and two translational degrees of freedom, and each of the other two has one translational and two rotational degrees of freedom. These four families are represented by four novel mechanisms. Although these mechanisms are asymmetric, the components that are used to realize them are very similar.