Geometrical kinematic and static analyses of planar manipulators using a barycentric formula
- Title
- Geometrical kinematic and static analyses of planar manipulators using a barycentric formula
- Author
- 서태원
- Keywords
- Axis screw; Line screw; Barycenter; Link parameter design; Motion analysis; Static force analysis
- Issue Date
- 2016-03
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Citation
- MECHANISM AND MACHINE THEORY, v. 94, Page. 72-84
- Abstract
- This study provides a geometric interpretation of the kinematics and statics of a planar manipulator using a barycentric formula. The kinematics with instantaneous motion and statics of a manipulator have recently been proven algebraically. In the past, such studies did not provide any intuition about the equations. Robot designers needed numerical methods or trial-anderror solvers using meaningless equations. In contrast, all algebraic processes have their own geometrical meaning. Geometric analysis provides intuition for designing the linkages of a robot. Screw theory and barycentric formulas were used to find meaningful geometric measures. The kinematics and statics of a manipulator are described by an axis screw and its reciprocal, the line screw. The barycenter of a triangle with edges and the perpendicular distance between the two screws are useful geometric measures for geometric analysis. (C) 2015 Elsevier Ltd. All rights reserved.
- URI
- https://www.sciencedirect.com/science/article/pii/S0094114X15002396?via%3Dihubhttp://hdl.handle.net/20.500.11754/40927
- ISSN
- 0094-114X
- DOI
- 10.1016/j.mechmachtheory.2015.10.005
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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