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
Authors
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Castellet Llerena, Albert
-
Thomas, Federico
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.
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