This contribution presents a screw theoretical method for the determination of the mobility of fully parallel platforms. The  
method is based in the application of three stages for the determination of platform’s mobility. The first stage involves the application of the intersection of the subalgebras of the Lie algebra, se(3), of the Euclidean group, SE(3), associated with the legs of the platform. The second stage analyzes the possibility that the legs of the platform generate a sum or direct sum of two subalgebras of the Lie algebra, se(3). The last stage, if necessary, considers the possibility that the kinematic pairs of the legs of the platform must satisfy certain velocity conditions; these conditions allow to reduce the platform’s mobility analysis to one that it can solved using one of the two previous stages.


A Mobility Determination Method for Parallel Platforms Based on the Lie Algebra of SE(3) and its Subspaces

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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