scientific article; zbMATH DE number 1014989

MaRDI QIDQ4338709zbMATH OpenFDO

Authors J. Angeles

Publication date 9 November 1997

zbMATH Keywords

input-output velocity analysiskinematic chains with multiple loopskinematic relationsmulti-fingered handwalking machine

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

The concepts of twist generator, wrench generator and their counterparts, namely, twist annihilator and wrench annihilator, are introduced. It is shown that twist annihilators allow the elimination of idle variables in the analysis of kinematic chains with multiple loops, thereby easing the formulation of the underlying kinematic relations. As examples of applications, the input-output velocity analysis of a four bar spatial linkage and the computations Jacobians of a robotic mechanical systems pertaining either to walking machine or a multi-fingered hand, are included. For the entire collection see [Zbl 0842.00046].

Recommendations

• Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices
• Generalized Jacobian analysis of lower mobility manipulators
• On the velocity analysis of interconnected chains mechanisms
• Dynamic Analysis of Closed Loop Mechanisms on the Basis Vectors of Passive Joint Axes

Cited in

(3)

• Modular and recursive kinematics and dynamics for parallel manipulators
• The stiffness matrix in elastically articulated rigid-body systems
• Twisted GFSR generators II

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