Kinematic Comparisons of Hybrid Mechanisms for Bone Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP

This paper proposes an approach to derive the Jacobian matrix of a hybrid mechanism by applying a velocity operator to the transformation matrix. This Jacobian matrix is capable of deducing hybrid singularities, which cannot be identified by using the screw-based Jacobian or velocity-based Jacobian....

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Bibliographic Details

Published in:	Machines
Main Authors:	Christopher Reinaldo, Sinh Nguyen Phu, Terence Essomba, Latifah Nurahmi
Format:	Article
Language:	English
Published:	MDPI AG 2022-10-01
Subjects:	hybrid mechanisms transformation matrix Jacobian singularities workspace performance indices
Online Access:	https://www.mdpi.com/2075-1702/10/11/979