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Displacement Analysis of the Homogeneous, Orthogonal 7-Link 7R Space Mechanism

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Advances in Robot Kinematics

Abstract

The input-output equations in the tan-half-angle for all angular displacements that can be chosen as output of a homogeneous, orthogonal, closed loop linkage with seven revolute joints are derived from a set of 20 equations in one parameter. To obtain these input-output equations (polynomial equations of degree 16 in three variables) a computer algebra program is used throughout the calculation.

Because of the enormous number of terms of these equations only the structure and numerical solutions of the input-output relations are presented here.

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References

  1. J. Duffy and C. Crane, A Displacement Analysis of the General Spatial 7-link, 7R Mechanism, Mech. Mach. Theory 15, p. 153–169 (1980).

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Author information

Authors and Affiliations

  1. Institut für Mechanik, Technische Universität Graz, Kopernikusgasse 24, A-8010, Graz, Austria

    P. Dietmaier

Authors
  1. P. Dietmaier
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Editor information

Editors and Affiliations

  1. RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

    Sabine Stifter

  2. Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

    Jadran Lenarčič

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© 1991 Springer-Verlag Wien

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Dietmaier, P. (1991). Displacement Analysis of the Homogeneous, Orthogonal 7-Link 7R Space Mechanism. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_34

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  • DOI: https://doi.org/10.1007/978-3-7091-4433-6_34

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82302-6

  • Online ISBN: 978-3-7091-4433-6

  • eBook Packages: Springer Book Archive

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