Geometrical kinematic analysis of a planar parallel manipulator using the barycentric formular
Kinematics and statics of a parallel manipulator has been proved algebraically.This study is a geometric interpretation of kinematics and statics of a planar parallel manipulator.The geometric analysis gives us an intuition to design the linkage of a parallel robot.Screw theory and barycentric formula are used to find meaningful geometric measures.Kinematics and statics of a parallel manipulator is described by an line screw and its reciprocal screw,axis screw.Barycenter and incenter of a triangle and a perpendicular distance between two screws are useful geometric measures for geometric analysis.
Line screw Axis screw Barycenter Incenter Jacobian
Chan Lee Ma-eum Kim Jeh-won Lee
School of Mechanical Engineering,Yoengnam University,Kyungsan,Korea
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）