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Kinematics of Special-Type Manipulators by Displacement-Groups

[+] Author Affiliations
Carlo Galletti, Pietro Fanghella

University of Genoa, Genova, Italy

Paper No. DETC2004-57030, pp. 87-94; 8 pages
doi:10.1115/DETC2004-57030
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

After a brief summary of the basic aspects of displacement-group theory, several applications of this theory to the kinematics of robot mechanisms are described. Then, we show in greater detail how to obtain, in a simple way, the characteristic polynomials of manipulators with special structural parameters. The goal is to find the polynomials of degree two for these special-geometry manipulators. In our paper, we apply displacement-group theory to provide an elegant and compact presentation and discussion of this subject, and we demonstrate that some geometrical conditions on the shapes of the manipulator links, as stated in other scientific papers, can be eliminated without changing the degree of the characteristic polynomials.

Copyright © 2004 by ASME

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