This paper presents a novel method for the description of kinematic chains,namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of kin...
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This paper presents a novel method for the description of kinematic chains,namely the canonical description of kinematic chains including the synthetic degree-sequences and the canonical adjacency matrices sets of kinematic *** most important characteristic of this new description method is its *** on the new principle the isomorphism identification becomes easy and the structures of all kinds of kinematic chains can be stored in computer for the benefits of the realization of automation and intelligence of machine design.
This paper summarizes several important mathematical methodologies appeared in modern computational *** developing history of these mathematical methods is depicted in classification threads together with time *** tre...
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This paper summarizes several important mathematical methodologies appeared in modern computational *** developing history of these mathematical methods is depicted in classification threads together with time *** trends of these mathematical methods applied in computational kinematics are pointed *** paper can serve as a basic reference on choosing mathematical methods for solving complex kinematics problems.
The motions of points,lines,and planes,embedded in a rigid body are expressed in a unified algebraic framework using a Clifford algebra.A Clifford algebra based displacement operator is addressed and its higher deriva...
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The motions of points,lines,and planes,embedded in a rigid body are expressed in a unified algebraic framework using a Clifford algebra.A Clifford algebra based displacement operator is addressed and its higher derivatives from which the coordinate-independent characteristic numbers with simple geometric meaning are *** of the coordinate independent feature,no tedious coordinate transformation typically found in the conventional instantaneous invariants methods is needed.
This paper addressed the problem of identifying the property of the singularity loci of the 6/6-Stewart *** singularity locus equation of the manipulator can be obtained by setting the determinant of the Jacobian matr...
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This paper addressed the problem of identifying the property of the singularity loci of the 6/6-Stewart *** singularity locus equation of the manipulator can be obtained by setting the determinant of the Jacobian matrix be *** singularity loci for different orientations are illustrated with *** singularity locus equation of the manipulator with respect to the oblique plane is derived either which is a polynomial expression of two *** shows that the singularity loci of the manipulator in the parallel oblique planes are hyperbolas accompanied with four pairs of intersecting straight Lines and a *** geometric interpretations and the properties of the singularity loci are further analyzed.
Recently,there has been considerable effort to bring together quaternion-based representations of spatial displacements with curve design techniques in Computer Aided Geometric Design (CAGD) to develop methods for syn...
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Recently,there has been considerable effort to bring together quaternion-based representations of spatial displacements with curve design techniques in Computer Aided Geometric Design (CAGD) to develop methods for synthesizing freeform Cartesian *** methods have a wide range of applications from computer graphics, Cartesian motion planning for robot manipulators to task specification and motion approximation for spatial mechanism *** paper compares the use of quaternions,dual quaternions,and double quaternions for freeform motion synthesis in a CAD environment.
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