KINEMATIC ANALYSIS OF SPATIAL MANIPULATORS USING SCREW THEORY

›› 1992, Vol. 28 ›› Issue (1): 68-75.

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KINEMATIC ANALYSIS OF SPATIAL MANIPULATORS USING SCREW THEORY

R. I. Alizade;Zhang Qixian

Azerbaijan Polytechnic Institute, Baku, USSR Beijing University of Aeronautics and Astronautics

Published:1992-01-01

Abstract

Abstract: The task of kinematic analysis is solved by using sorew-displacement, cha-racterising the bars of linkages and manipulators. Combining both of vector and moment enables to write more compact expressions of algorithm to solve the task of analysis. The new recurrent expressions have been developed to describe the displacement, velocity and acceleration of arbitrarily placed screws in space. From these general expressions it is quite easy to get special recurrent expressions for particularly placed vectors in space.

Key words: 操作机构, 数学分析, 运动

R. I. Alizade;Zhang Qixian. KINEMATIC ANALYSIS OF SPATIAL MANIPULATORS USING SCREW THEORY[J]. , 1992, 28(1): 68-75.

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KINEMATIC ANALYSIS OF SPATIAL MANIPULATORS USING SCREW THEORY

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