A class of line-symmetric motion generators is synthesized here for the first time. Line-symmetric motions comprise motions of a axial-symmetric object from an initial to a target configuration, by screwing along the common perpendicular of the initial and the goal axis, without incurring self spin or sliding of the object about and along its own axis. These motions have application in several robot mechanism synthesis for line-symmetric manipulation tasks, e.g., minimal invasive surgery robots and haptic interfaces.

Wu, Y., Carricato, M. (2019). Line-Symmetric Motion Generators. Cham : Springer [10.1007/978-3-319-93188-3_40].

Line-Symmetric Motion Generators

Wu, Yuanqing;Carricato, Marco
2019

Abstract

A class of line-symmetric motion generators is synthesized here for the first time. Line-symmetric motions comprise motions of a axial-symmetric object from an initial to a target configuration, by screwing along the common perpendicular of the initial and the goal axis, without incurring self spin or sliding of the object about and along its own axis. These motions have application in several robot mechanism synthesis for line-symmetric manipulation tasks, e.g., minimal invasive surgery robots and haptic interfaces.
2019
Advances in Robot Kinematics 2018
347
355
Wu, Y., Carricato, M. (2019). Line-Symmetric Motion Generators. Cham : Springer [10.1007/978-3-319-93188-3_40].
Wu, Yuanqing; Carricato, Marco
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/636996
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