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The Kinematics of A-Pair Jointed Serial Linkages

[+] Author Affiliations
James D. Robinson, M. John D. Hayes

Carleton University, Ottawa, ON, Canada

Paper No. DETC2010-28673, pp. 1113-1122; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


A new kinematic pair called an algebraic screw pair, or A-pair, is introduced that utilizes the self-motions inherent to a specific configuration of Griffis-Duffy platform. Using the A-pair as a joint in a hybrid parallel-serial kinematic chain results in a sinusoidal coupling of rotation and translation between adjacent links. This motion affects both the direct and inverse kinematics of such chains. Presented in this paper are the direct kinematics of chains using A-pairs and an algorithm for the inverse kinematics of a 4A-pair chain.

Copyright © 2010 by ASME
Topics: Kinematics , Linkages



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