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Chinese Journal of Mechanical Engineering

Table 1 Information for adjoint transformation

From: Effect of Degree-of-Symmetry on Kinetostatic Characteristics of Flexure Mechanisms: A Comparative Case Study

Beam number

Rotational matrix

Translational vector

1

R1 = R x (θ)

t1 = (− d, − a/a2.2, − a cot (θ))T

2

R2 = R x (− θ)

t2 = (− d, a/a2.2, − a cot (θ))T

3

R3 = R x (θ)

t3 = (d, − a/a2.2, − a cot (θ))T

4

R4 = R x (− θ)

t4 = (d, a/a2.2, − a cot (θ))T

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