This paper presents a critical review on the calculation of the mobility, the main structural
and kinematic parameter of a mechanism. We focus on a brief presentation and a critical …

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 …

When developing robotic exoskeletons, the design of physical connections between the
device and the human limb to which it is connected is a crucial problem. Indeed, using an …

Type synthesis of lower mobility parallel mechanisms (PMs) has attracted extensive
attention in research community of robotics over the last seven years. One important trend in …

The remote center-of-motion (RCM) mechanism plays an important role in surgery robotics,
exoskeleton robots, haptic devices, pointing mechanisms and so on because of the …

It is well known that the traditional Grübler-Kutzbach formula fails to calculate the mobility of
some classical mechanisms or many modern parallel robots, and this situation seriously …

This paper examines the variations and derivations of the dual Euler-Rodrigues formula
from various mathematical forms, including the matrix in 6× 6, the dual matrix, Lie group SE …

This paper presents a novel approach for synthesizing metamorphic parallel mechanisms
with an ability of reconfiguring motion between 1R2T and 2R1T based on quotient operation …

Parallel robots are extensively used for various applications including manipulation,
machining, guiding, testing and control. The mechanical architecture of parallel robots is …

When limbs of a parallel mechanism have been selected, the geometric relation among
limbs determines the mechanism's motion. The limb arrangement which affects the …