When a mechanism moves, the twist system S of the end-effector generally varies. In significant special cases, S is a subalgebra of the Lie algebra of the special Euclidean group, and it remains constant. In more general cases, S remains invariant up to a proper isometry, thus preserving its class. A mechanism of this kind is said to generate a persistent screw system (PSS) of the end-effector. PSSs play an important role in mobility analysis and mechanism design. This paper presents the serial generators of 4 -dimensional PSSs with a constant class of the general type.
Marco Carricato (2014). Four-Dimensional Persistent Screw Systems of the General Type. Dordrecht : SPRINGER NETHERLANDS [10.1007/978-94-007-7214-4_33].
Four-Dimensional Persistent Screw Systems of the General Type
CARRICATO, MARCO
2014
Abstract
When a mechanism moves, the twist system S of the end-effector generally varies. In significant special cases, S is a subalgebra of the Lie algebra of the special Euclidean group, and it remains constant. In more general cases, S remains invariant up to a proper isometry, thus preserving its class. A mechanism of this kind is said to generate a persistent screw system (PSS) of the end-effector. PSSs play an important role in mobility analysis and mechanism design. This paper presents the serial generators of 4 -dimensional PSSs with a constant class of the general type.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
