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Keywords: Lie product
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. April 2010, 132(4): 041001.
Published Online: March 30, 2010
.... The Lie product, also called the Lie bracket, is known to give the derivative of a motion screw with respect to the displacement along an upstream screw in a serial chain. Serial chains having motion screws that are closed under the Lie product are known to retain their mobility after differential...