Publication

The self-motion manifold of the orthogonal spherical mechanism

Journal Article (1999)

Journal

Mechanism and Machine Theory

Pages

59-88

Volume

34

Number

1

Doc link

http://dx.doi.org/10.1016/S0094-114X(98)00004-4

File

Download the digital copy of the doc pdf document

Authors

Abstract

The information required for solving the inverse kinematic problem associated with any single-loop spatial mechanism is essentially stored in the inverse kinematic solution set of the orthogonal spherical mechanism (SSn−3 for short). The first part of this paper is devoted to the characterization of SSn−3 in terms of its connectivity, singularities and symmetries. The second one focuses on finding simple closed form expressions for its tangent space outside singularities in terms of rotations or rotation axes. Finally, some examples show how the obtained results can be applied to the analysis of spatial mechanisms.

Categories

automation.

Scientific reference

A. Castellet and F. Thomas. The self-motion manifold of the orthogonal spherical mechanism. Mechanism and Machine Theory, 34(1): 59-88, 1999.