An Automatic Approach for Identification of Reciprocal Screw Systems of Serial Kinematic Chains Based on the Invariance Properties Matrix

摘要：

　　This paper presents a procedure in identifying (6-f ) constraint wrenches of an f ( f < 6 ) degrees of freedom serial kinematic chain.The proposed approach is based on the concept of the invariance properties matrix that is used to state the geometric closure conditions for solving the inverse kinematics of serial robots,which will be further developed in this paper to detect the invariant geometric properties directly associated with the constraint wrenches of the system.The procedure proposed provides a feasible way to process the issue of finding constraint wrenches of serial kinematic chains in an automatic manner.Four typical serial chains of parallel mechanisms are taken as examples to demonstrate the effectiveness of this approach.

关键词： Screw Theory Reciprocal Screw System Invariance Properties Matrix

作者: Andrés Kecskeméthy Haitao Liu Tian Huang

作者单位: Chair of Mechanics and Robotics,University of Duisburg-Essen,Duisburg 47057,Germany School of Mechanical Engineering,Tianjin University,Tianjin 300072,China

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-6

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）