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.

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.
Computational Kinematics
299
306
MECHANISMS AND MACHINE SCIENCE
Marco Carricato
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/191788
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