...Chung-Ching Lee; Jacques M. Hervé Based on the Lie-group-algebraic properties of the displacement set, the three-degree-of-freedom (3DOF) pseudoplanar motion often termed Y motion for brevity is first introduced. Then, all possible general architectures of the mechanical generators of a given Y...

... kinematics motion control closed loop systems Lie groups During the past few years, there has been an increasing demand in the field of precision engineering for fine motion of multi-degrees of freedom. This motivates the development of a new robotics application field, parallel mechanism...

... using methods of differential geometry. The components of the tensor with respect to a basis of twists are given by evaluating the tensor on a pair of basis twists. We show that this tensor depends on the choice of an affine connection on the Lie group, SE 3 . In addition, we show that the definition...