Position Kinematics of the Generalized Lobster Arm and Its Series-Parallel Dual
Position Kinematics of the Generalized Lobster Arm and Its Series-Parallel Dual
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DOI：
10.1115/1.2926566
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发表时间：
1992-09
影响因子：
3.3
通讯作者：
V. Murthy;K. Waldron
中科院分区：
文献类型：
--
作者：
V. Murthy;K. Waldron
广义龙虾臂是一条六转开式运动链，具有3对连续相交的轴。利用其特殊的几何形状，提出了一种新的求解该臂位置逆问题的方法。并与串并联对偶机构的位置正解问题进行了比较。控制这两个问题的方程具有很强的相似性，每个方程都可以归结为一个16次一元多项式方程。双串并联机构是一种在龙虾臂上表现出扳手和速度马达之间的对称性的机构。虽然本文的结果具有内在的意义，但一个更普遍的重要特征是串联机构的运动学逆解与并联机构的运动学正解之间的关系。虽然串并对偶在位置域中没有被证明是成立的，但就非常一般的特征而言，这里表明这两个解具有相同的次数并且有其他的共同特征。
The generalized lobster arm is a six revolute open kinematic chain with 3 consecutive intersecting pairs of axes. A new solution of the inverse position kinematics problem of this arm which takes advantage of its specific geometry is presented. A comparison is made with the direct position kinematics problem of the series-parallel dual mechanism. The equations governing the two problems show strong similarity and can each be reduced to a sixteenth degree univariate polynomial equation. The dual series-parallel mechanism is the one that exhibits, with the lobster arm, the symmetry that exists between the wrench and the velocity motor. Although the results presented here have intrinsic interest, a more generally important feature is the relationship between the solutions to the inverse kinematics of the serial mechanism and the direct kinematics of the parallel mechanism. Although the series-parallel duality has not been shown to hold in the position domain, except in terms of very general characteristics, it is shown here that the two solutions are of the same degree and have other features in common.