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Finding Geometric Invariants From Time-Based Invariants for Spherical and Spatial Motions

[+] Author Affiliations
Bernard Roth

Stanford University, Stanford, CA

Paper No. DETC2004-57161, pp. 407-413; 7 pages
  • 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


This paper shows how the instantaneous invariants for time-independent motions can be obtained from time-dependent motions. Relationships are derived between those parameters that define a time-dependent motion and the parameters that define its geometrically equivalent time-independent motion. The time-independent formulations have the advantage of being simpler than the time dependent ones, and thereby lead to more elegant and parsimonious descriptions of motions properties. The paper starts with a review of the choice of canonical coordinate systems and instantaneous invariants for time-based spherical and spatial motions. It then shows how to convert these descriptions to time-independent motions with the same geometric trajectories. New equations are given that allow the computation of the geometric invariants from time-based invariants. The paper concludes with a detailed example of the third-order motion analysis of the trajectories of an open, spatial R-R chain.

Copyright © 2004 by ASME
Topics: Motion



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