This paper presents the explicit mapping relations between topological structure of mechanism and position and orientation characteristic (abbreviated as POC hereafter) of its motion output link. It deals with: (1) The symbolic representation and the invariant of topological structure of mechanism; (2) The matrix representation of POC of mechanism motion output; (3) The POC equation of serial mechanism and its symbolic operation rules. The symbolic operation involves simple mathematic tools and fewer operation rules, and has clear geometrical meaning. So it is easy to use. The POC equation can be used for structural analysis and synthesis of serial and parallel mechanisms. The method proposed in this paper is totally different from the methods based on screw theory and based on displacement subgroup/sub-manifold.
- Design Engineering Division and Computers in Engineering Division
Position and Orientation Characteristic Equation for Topological Design of Serial Mechanisms
- Views Icon Views
- Share Icon Share
- Search Site
Yang, T, Liu, A, Jin, Q, Luo, Y, Shen, H, & Hang, L. "Position and Orientation Characteristic Equation for Topological Design of Serial Mechanisms." Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B. Brooklyn, New York, USA. August 3–6, 2008. pp. 1347-1356. ASME. https://doi.org/10.1115/DETC2008-49074
Download citation file: