Abstract:This contribution presents a screw theory-based method for determining the mobility of fully parallel platforms. The method is based in the application of three stages. The first stage involves the application of the intersection of the subalgebras of Lie algebra, se(3), of the special Euclidean group, SE(3), associated with the legs of the platform. The second stage analyzes the possibility of the legs of the platform generating a sum or direct sum of two subalgebras of the Lie algebra, se(3). The last stage,… Show more
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