Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-25T05:53:15.559Z Has data issue: false hasContentIssue false
  • English
  • Français

Special configurations of robot-arms via screw theory

Published online by Cambridge University Press:  09 March 2009

K. H. Hunt
K. H. Hunt
Affiliation:
Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168 (Australia).
Get access Rights & Permissions [Opens in a new window]

Summary

Part 1 of the paper* was concerned with the Jacobian of serial robot-arms and its matrix of cofactors; part 2 emphasizes the end-effector's velocity characteristics as affected at special configurations. The displacement about a ‘fixture-point’ is extended dually to a ‘fixture-plane’, and then to a ‘fixture-line’. These fixture-elements serve to highlight the prolixity of special configurations. Reciprocal screws lead to a complete survey of how the end-effector can ‘twist’ when one freedom is lost; extension to loss of more freedoms is explained. Then the fixture-elements are given elementary displacements that allow common requirements to be studied with the minimum of complications. Further investigation is thought to have promise for robot-control.

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987 , pp. 17 - 22
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kumar, A. and Waldron, K.J., “The workspaces of a mechanical manipulator” ASME J. Mechanical Design 103, 665–72 (1981).CrossRefGoogle Scholar
2.Hunt, K.H., “Geometry – the key to mechanical movements” Mechanism and Machine Theory 11, 79–89 (1976).CrossRefGoogle Scholar