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2018 | OriginalPaper | Chapter

4. Position and Orientation Characteristics Equation for Serial Mechanisms

Authors : Ting-Li Yang, Anxin Liu, Huiping Shen, Lubin Hang, Yufeng Luo, Qiong Jin

Published in: Topology Design of Robot Mechanisms

Publisher: Springer Singapore

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Abstract

Position and orientation characteristics (POC) equation for serial mechanisms is introduced in this chapter. The content deals with: (1) Based on velocity analysis and topological structure invariance of serial mechanisms (Chap. 2), the unit vector set of the end link velocity is “union” of unit vector sets of each pair, which depends only on the topological structure (excluding singular positions) of a mechanism (Chap. 3). (2) Since the unit vector set of velocity could be rewritten into the form of velocity characteristic (Chap. 3), the velocity characteristics (VC) equation and its operation rules for serial mechanisms are derived. (3) Based on one-to-one correspondence between elements of the POC set and elements of the VC set (excluding singular positions), the POC equation for serial mechanisms and the “union” operation rules of POC sets (eight linear rules and two nonlinear criteria) are obtained. This POC equation is independent of motion position and it is not necessary to establish the fixed coordinate system. (4) This POC equation could be used for determining POC set of a serial mechanism when its topological structure is known (Chap.4) and topological structure of a serial mechanism when its POC set and DOF are known (refer to Chap. 8). (5) This POC equation will be used for building POC equation for parallel mechanisms (refer to Chap. 5) and general DOF formula for spatial mechanisms (refer to Chap. 6).

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previous chapter Position and Orientation Characteristics Set
next chapter Position and Orientation Characteristics Equation for Parallel Mechanisms
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Metadata
Title
Position and Orientation Characteristics Equation for Serial Mechanisms
Authors
Ting-Li Yang
Anxin Liu
Huiping Shen
Lubin Hang
Yufeng Luo
Qiong Jin
Copyright Year
2018
Publisher
Springer Singapore
Book
Topology Design of Robot Mechanisms

Print ISBN: 978-981-10-5531-7

Electronic ISBN: 978-981-10-5532-4

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-981-10-5532-4_4

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