Finite displacement screw-based group analysis of 3PRS parallel mechanisms

• 3PRS parallel mechanisms are studied by finite displacement screw-based group method. Manifold motions of with different arrangements R joints expressed. The and instantaneous these modeled compared. How the limb arrangement affects mechanism’ motion is investigated revealed. When limbs a mechanism have been selected, geometric relation among determines mechanism's motion. which raises fundamental significant issue. If only owns Lie motions, it convenient to predict how However, if mainly or purely constituted general differential manifolds, difficult find influence arrangement. On this regard, paper provides an in-depth investigation focusing on analysis consisting three PRS planar-spherical manifolds. By formulating comparing characteristics though could be difficultly mathematical tool without using screw, method proposed in resolve raised novel approach presents results expressions new types manifold providing foundation for design application having various three-planar-spherical manifolds’ intersection motions.