| Title:
|
Special motions of robot-manipulators (English) |
| Author:
|
Karger, Adolf |
| Language:
|
English |
| Journal:
|
Applications of Mathematics |
| ISSN:
|
0862-7940 (print) |
| ISSN:
|
1572-9109 (online) |
| Volume:
|
39 |
| Issue:
|
2 |
| Year:
|
1994 |
| Pages:
|
127-136 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
There exist many examples of closed kinematical chains which have a freedom of motion, but there are very few systematical results in this direction. This paper is devoted to the systematical treatment of 4-parametric closed kinematical chains and we show that the so called Bennet’s mechanism is essentially the only 4-parametric closed kinematical chain which has the freedom of motion. According to [3] this question is connected with the problem of existence of asymptotic geodesic lines on robot-manipulators considered as submanifolds of a pseudo-Riemannian space. All computations were performed by the help of a formal manipulation system on a PC-computer. (English) |
| Keyword:
|
kinematics |
| Keyword:
|
robotics |
| Keyword:
|
kinematical chains |
| Keyword:
|
Bennet’s mechanism |
| Keyword:
|
freedom of motion |
| Keyword:
|
robot- manipulators |
| MSC:
|
53A17 |
| MSC:
|
70B15 |
| MSC:
|
93C85 |
| idZBL:
|
Zbl 0805.53009 |
| idMR:
|
MR1258188 |
| DOI:
|
10.21136/AM.1994.134249 |
| . |
| Date available:
|
2009-09-22T17:43:24Z |
| Last updated:
|
2020-07-28 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/134249 |
| . |
| Reference:
|
[1] Karger A.: Geometry of the motion of robot-manipulators.Manuscr. Math. 62 (1988), 115–126. Zbl 0653.53007, MR 0958256, 10.1007/BF01258270 |
| Reference:
|
[2] Karger A.: Classification of singular robot-manipulators.Submitted to Mech. Mach. Theory. |
| Reference:
|
[3] Karger A.: Robot-manipulators as submanifolds.Submitted to Mathematica Pannonica. Zbl 0793.53011 |
| . |
