Screw theory and higher order kinematic analysis of open serial and closed chains

Rico, José M.; Gallardo, Jaime; Duffy, Joseph

doi:10.1016/s0094-114x(98)00029-9

Cited by 120 publications

(66 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…the kinematic loops for which closure constraints are introduced, and -an orientation of the FCs. (Rico et al, 1999;Selig, 2005;Müller, 2014a). This is the basis for any higher-order kinematic analysis of mechanisms.…”

Section: A Müller: Topology Representation Of Mechanismsmentioning

confidence: 99%

See 1 more Smart Citation

Representation of the kinematic topology of mechanisms for kinematic analysis

Müller

2015

Mech. Sci.

View full text Add to dashboard Cite

Abstract. The kinematic modeling of multi-loop mechanisms requires a systematic representation of the kinematic topology, i.e. the arrangement of links and joints. A linear graph, called the topological graph, is used to this end. Various forms of this graph have been introduced for application in mechanism kinematics and multibody dynamics aiming at matrix formulations of the governing equations. For the (higher-order) kinematic analysis of mechanisms a simple yet stringent representation of the topological information is often sufficient. This paper proposes a simple concept and notation for use in kinematic analysis. Upon a topological graph, an order relation of links and joints is introduced allowing for recursive computation of the mechanism configuration. An ordering is also introduced on the topologically independent fundamental cycles. The latter is indispensable for formulating generically independent loop closure constraints. These are presented for linkages with only lower pairs, as well as for mechanisms with one higher kinematic pair per fundamental cycle. The corresponding formulation is known as cut-body and cut-joint approach, respectively.

show abstract

Section: A Müller: Topology Representation Of Mechanismsmentioning

confidence: 99%

“…Furthermore, this provides the basis for higher-order kinematic analysis of mechanisms. This has been pursued in Rico et al (1999Rico et al ( , 2008 and Müller and Rico (2008) for single-loop mechanisms. The extension to multi-loop mechanisms requires a systematic yet simple description of the mechanism topology.…”

Section: Mechanism Configurationmentioning

confidence: 99%

Representation of the kinematic topology of mechanisms for kinematic analysis

Müller

2015

Mech. Sci.

View full text Add to dashboard Cite

show abstract

“…This section applies well known screw theory; for readers unfamiliar with this mathematical resource, some appropriated references are provided at the end of this work (Sugimoto, 1987;Rico and Duffy, 1996;Rico et al, 1999). …”

Section: Velocity Analysismentioning

confidence: 99%

Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory

Gallardo¹,

Orozco²,

Perez³

2008

Parallel Manipulators, New Developments

Self Cite

View full text Add to dashboard Cite

“…Equation (6) was named by Rico and Duffy (1996) as the reduced acceleration state. After the publication of that theoretical paper, screw theory was recognized, unfortunately only by a reduced number of kinematicians, as a viable option to approach not only the acceleration analysis but also the jerk analysis (Rico et al, 1999) and the hyper-jerk analysis of robot manipulators (Gallardo-Alvarado, 2014). Equation (7) has been proved successfully in a wide variety of parallel manipulators.…”

Section: Introduction 1 23mentioning

confidence: 99%

Kinematics of an actuating mechanism for a telescoping antenna

Gallardo-Alvarado

Pérez-González

2015

ing.inv.

View full text Add to dashboard Cite

In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized coordinates, while the input-output equations of velocity and acceleration of the manipulator are systematically obtained by means of the theory of screws. A case study is included with the purpose to exemplify the application of the method.

show abstract

Screw theory and higher order kinematic analysis of open serial and closed chains

Cited by 120 publications

References 7 publications

Representation of the kinematic topology of mechanisms for kinematic analysis

Representation of the kinematic topology of mechanisms for kinematic analysis

Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory

Kinematics of an actuating mechanism for a telescoping antenna

Contact Info

Product

Resources

About