Pseudo-planar motion generators

Abstract

In this paper, a particular type of motion is called pseudo-planar motion and termed Y motion for brevity. A set of Y -motions having the same plane direction and the same pitch is endowed with the algebraic structure of a three-dimensional (3D) Lie group. The possible architectures of the mechanical generators of a Y subgroup are disclosed. All singular postures of Y-motion generators are described and their embodiments are graphically displayed.