Abstract
This work deals with the applications of the mechanism—composition principle and of displacement—group theory to the kinematics of multiloop robot mechanisms. It is shown that they can give a unified approach to two typical problems of robot kinematics, i.e. mobility analysis and direct and inverse position analyses.
Starting from the description of a multiloop kinematic chain in terms of its kinematic pairs, link shapes, link—pair connections, and driving constraints, the robot mechanism is decomposed into single—loop determined chains. For each chain, all constraints between any two links (i.e., group, connectivity and invariant geometric properties) are found. Then, the information about the constraint is used to obtain a set of independent closure equations for the chain considered.
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© 1992 Springer Science+Business Media Dordrecht
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Galletti, C., Fanghella, P. (1992). A General Method for a Closed-Form Solution to Robot Kinematics Problems. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_2
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DOI: https://doi.org/10.1007/978-94-011-2526-0_2
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5115-6
Online ISBN: 978-94-011-2526-0
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