Geometrical Kinematic Analysis of a Planar Serial Manipulator Using the Barycentric Formula
Chan. Lee, Ma Eum. Kim, and Jeh Won. Lee
Yeungnam University, Kyungsan, Korea
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
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
General Information
ISSN: 2315-4527 (Print)
Abbreviated Title: Int. J. Mater. Sci. Eng.
Editor-in-Chief: Prof. Emeritus Dato' Dr. Muhammad Yahaya
DOI: 10.17706/ijmse
Abstracting/ Indexing: Ulrich's Periodicals Directory, Google Scholar, Crossref
E-mail: ijmse@iap.org
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