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Special configurations of robot-arms via screw theory

Published online by Cambridge University Press:  09 March 2009

K. H. Hunt
K. H. Hunt
Affiliation:
Department of Mechanical Engineering, Monash University, Clayton, Victoria 3168 (Australia).
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Summary

Part 1 of the paper* was concerned with the Jacobian of serial robot-arms and its matrix of cofactors; part 2 emphasizes the end-effector's velocity characteristics as affected at special configurations. The displacement about a ‘fixture-point’ is extended dually to a ‘fixture-plane’, and then to a ‘fixture-line’. These fixture-elements serve to highlight the prolixity of special configurations. Reciprocal screws lead to a complete survey of how the end-effector can ‘twist’ when one freedom is lost; extension to loss of more freedoms is explained. Then the fixture-elements are given elementary displacements that allow common requirements to be studied with the minimum of complications. Further investigation is thought to have promise for robot-control.

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987 , pp. 17 - 22
Copyright
Copyright © Cambridge University Press 1987

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References

1.Kumar, A. and Waldron, K.J., “The workspaces of a mechanical manipulator” ASME J. Mechanical Design 103, 665–72 (1981).CrossRefGoogle Scholar
2.Hunt, K.H., “Geometry – the key to mechanical movements” Mechanism and Machine Theory 11, 79–89 (1976).CrossRefGoogle Scholar