Abstract
Position and orientation characteristics (POC) equation for serial mechanisms is introduced in this chapter. The content deals with: (1) Based on velocity analysis and topological structure invariance of serial mechanisms (Chap. 2), the unit vector set of the end link velocity is “union” of unit vector sets of each pair, which depends only on the topological structure (excluding singular positions) of a mechanism (Chap. 3). (2) Since the unit vector set of velocity could be rewritten into the form of velocity characteristic (Chap. 3), the velocity characteristics (VC) equation and its operation rules for serial mechanisms are derived. (3) Based on one-to-one correspondence between elements of the POC set and elements of the VC set (excluding singular positions), the POC equation for serial mechanisms and the “union” operation rules of POC sets (eight linear rules and two nonlinear criteria) are obtained. This POC equation is independent of motion position and it is not necessary to establish the fixed coordinate system. (4) This POC equation could be used for determining POC set of a serial mechanism when its topological structure is known (Chap.4) and topological structure of a serial mechanism when its POC set and DOF are known (refer to Chap. 8). (5) This POC equation will be used for building POC equation for parallel mechanisms (refer to Chap. 5) and general DOF formula for spatial mechanisms (refer to Chap. 6).
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Yang, TL., Liu, A., Shen, H., Hang, L., Luo, Y., Jin, Q. (2018). Position and Orientation Characteristics Equation for Serial Mechanisms. In: Topology Design of Robot Mechanisms. Springer, Singapore. https://doi.org/10.1007/978-981-10-5532-4_4
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DOI: https://doi.org/10.1007/978-981-10-5532-4_4
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