Abstract—Kinematics and statics of a serial manipulator has been proved algebraically. This study is a geometric interpretation of kinematics and statics of a planar serial manipulator. The geometric analysis gives us an intuition to design the linkage of a serial robot. Screw theory and barycentric formula are used to find meaningful geometric measures. Kinematics and statics of a serial manipulator is described by an axis screw and its reciprocal screw, line screw. Barycenter and incenter of a triangle and a perpendicular distance between two screws are useful geometric measures for geometric analysis.

Index Terms—axis screw, line screw, barycenter, incenter, Jacobian

Cite: Chan. Lee, Ma Eum. Kim, and Jeh Won. Lee, "Geometrical Kinematic Analysis of a Planar Serial Manipulator Using the Barycentric Formula," International Journal of Materials Science and Engineering, Vol. 3, No. 1, pp. 77-81, March 2015. doi: 10.12720/ijmse.3.1.77-81