Geometrical kinematic and static analyses of planar manipulators using a barycentric formula

作者：Lee Chan; Lee Jie Hyeung; Seo TaeWon^*; Lee Jeh Won

来源：Mechanism and Machine Theory, 2016, 97: 72-84.

DOI：10.1016/j.mechmachtheory.2015.10.005

• Axis screw
• Line screw
• Barycenter
• Link parameter design
• Motion analysis
• Static force analysis

This study provides a geometric interpretation of the kinematics and statics of a planar manipulator using a barycentric formula. The kinematics with instantaneous motion and statics of a manipulator have recently been proven algebraically. In the past, such studies did not provide any intuition about the equations. Robot designers needed numerical methods or trial-anderror solvers using meaningless equations. In contrast, all algebraic processes have their own geometrical meaning. Geometric analysis provides intuition for designing the linkages of a robot. Screw theory and barycentric formulas were used to find meaningful geometric measures. The kinematics and statics of a manipulator are described by an axis screw and its reciprocal, the line screw. The barycenter of a triangle with edges and the perpendicular distance between the two screws are useful geometric measures for geometric analysis.

• 出版日期2016-3