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Table 1 Corresponding actuation wrenches and vector \(\varvec{\mu}_{k}\)

From: Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

Actuated pairs Actuation wrench Vector \(\varvec{\mu}_{k}\)
\(R_{i}\), i=1,2,3 \(\varvec{\$ }_{Ai1} = \left( {\begin{array}{*{20}c} {l_{i1} } & {m_{i1} } & {n_{i1} ;} & {p_{i1} } & {q_{i1} } & {r_{i1} } \\ \end{array} } \right)\) \(\left( {\begin{array}{*{20}c} {n_{i1} } & {\mu_{2k} } & {\mu_{3k} } \\ \end{array} } \right)\)
\(P_{i}\), i=1,2,3 \(\varvec{\$ }_{Ai2} = \left( {\begin{array}{*{20}c} {l_{i2} } & {m_{i2} } & {n_{i2} ;} & {p_{i2} } & {q_{i2} } & {r_{i2} } \\ \end{array} } \right)\) \(\left( {\begin{array}{*{20}c} {n_{i2} } & {\mu_{2k} } & {\mu_{3k} } \\ \end{array} } \right)\)