This paper reviews the Euler–Rodrigues formula in the axis–angle representation of
rotations, studies its variations and derivations in different mathematical forms as vectors …

The development of the finite twist or the finite screw displacement has attracted much
attention in the field of theoretical kinematics and the proposed q-pitch with the tangent of …

Abstract The Kutzbach–Grübler mobility criterion calculates the degrees of freedom of a
general mechanism. However, the criterion can break down for mechanisms with special …

Metamorphic mechanisms form a class of mechanisms that has the facilities to change
configuration from one kind to another with a resultant change in the number of effective …

There are usually several motion patterns having the same degrees of freedom (DOF). For
example, planar motion, spherical motion, and spatial translation are motion patterns with 3 …

This paper presents a new joint coined as the rT joint and proposes two types of
metamorphic parallel mechanisms assembled with this rT joint. In the first type, the …

This paper introduces a new metamorphic parallel mechanism based on a reconfigurable
revolute (rR) joint and the mechanism consists of three rRPS (rR joint-prismatic joint …

This paper presents a new metamorphic parallel mechanism that has the ability to change
mobility in a wide range. Based on the newly invented reconfigurable Hooke joint with two …

This paper presents a unique feature of geometric constraint of adjacent axes of the variable-
axis (vA) joint and analyses the effectiveness in the constructed limb, resulting in variation of …

The remote center-of-motion (RCM) mechanism plays an important role in surgery robotics,
exoskeleton robots, haptic devices, pointing mechanisms and so on because of the …