Mobility analysis of a complex structured ball based on mechanism decomposition and equivalent screw system analysis

DOI10.1016/J.MECHMACHTHEORY.2003.12.004MaRDI QIDQ1880809zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 1 October 2004

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2003.12.004

zbMATH Keywords

ConstraintKinematic chainMechanismMobilityParallel mechanismPlatformScrew system

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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• Mobility analysis of multi-loop coupling mechanisms using geometric algebra
• A simple method to calculate mobility with Jacobian

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