Zhen Jiang

Analysis of a Constant Jacobian Nonholonomic Constraint 2R1T Parallel Mechanism Based on Plane-Sphere Pure Rolling

To address the difficulty of establishing unified displacement-level forward and inverse kinematics and effectively characterizing the orientation evolution of spherical-platform parallel mechanisms under pure rolling constraints, a 3-P(S) parallel mechanism based on a plane–sphere pure rolling nonholonomic constraint...