The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential mapping. The product of exponentials (POE) describes the configuration of a …

生产力发展与工程技术革新要求机构具备可自重组与可重构及“一机多用” 的功能,
以满足复杂工况需求. 可重构机构具有可变活动度和可变构态, 可以满足多任务 …

An approach to the dynamic analysis of parallel manipulators is presented. The proposed
method, based on the theory of screws and on the principle of virtual work, allows a …

并联机构的本质作用之一是在机构的输入端和输出端之间传递运动和力. 对并联机构的性能分析
需要从该本质功能出发, 考虑机构运动和力的传递特性. 在螺旋理论中, 当运动旋量和力旋量进行 …

This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-
loop spatial metamorphic mechanism, the Origaker is able to transform between different …

In this paper, a computing method for the higher-order acceleration vector field properties in
general rigid body motion and multibody system is proposed using algebraic properties of …

A new approach to the study of screw systems variations, for infinitesimal motions, is
proposed by analyzing the end-effector acceleration of a serial chain. The developed results …

The Hessian matrix, one of the most pivotal parts in a robotic system's acceleration model, is
a prerequisite for dynamic modeling and control of parallel robots. Aimed at providing a …

In this contribution the kinematic and dynamic analyses, up to the determination of the
driving forces, of a specific class of series–parallel manipulators, known as 2 (3-RPS) …

The revelation of mechanism bifurcation is essential in the design and analysis of
reconfigurable mechanisms. The first-and second-order based methods have successfully …