file.pdf (10.85 MB)
0/0

Definition, determination and characterization of acceleration sets for spatial manipulators

Download (10.85 MB)
journal contribution
posted on 01.01.1989 by Yong-yil Kim, Subhas Desa
Abstract: "In this report the approach developed by the authors, for systematically studying the acceleration capabilites and acceleration properties of the end-effector of a planar 2 degree-of-freedom manipulator, is extended to the general spatial manipulator with three degrees-of-freedom. A central feature of this report is the determination of the properties of the quadratic mapping between the "joint-velocity" space and the acceleration space of P which then makes it possible to obtain analytical solutions for most acceleration properties of interest. We show that a fundamental way of studying these quadratic mappings is in terms of the mapping of (input) line congruences into (output) line congruences."

History

Publisher Statement

All Rights Reserved

Date

01/01/1989

Exports

Exports