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....
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/11/979 |