Advantages of the modified Euler angles in the design and control of PKMs

An unorthodox orientation parameterization has recently been proposed. Our paper clarifies the geometrical interpretation of the new Tilt-and-Torsion angles and reveals their various advantages. The novel set of rotation angles is applied to the analysis of a class of constrained parallel mechanisms. On the basis of the presented results, these angles can be strongly recommended as a standard for the PKM community.

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