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Keywords: unified kinematics
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Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031004.
Paper No: JMR-12-1101
Published Online: June 24, 2013
... of the platform rotation matrix and translation vector are set up based on the point-plane constraint, which reveals the bifurcated motion property in the topology with mobility 2 and the geometric condition with mobility change in altering to other mechanism topologies. Following this, a unified kinematics limb...