Invariant Measures of Closeness to Linear Dependency of Screw Systems-Reference-Cited by-同舟云学术

Invariant Measures of Closeness to Linear Dependency of Screw Systems

Published:2006-07-01 Issue:7 Volume:220 Page:1033-1043
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Kerr D R¹,Hartley D M²

Affiliation:

1. School of Aeronautical, Civil, and Mechanical Engineering, University of Salford, Salford, UK

2. , Monk Bretton, Barnsley, UK

Abstract

This paper describes a new, general analytical method of determining the closeness to linear dependence of any system of lines and screws, giving n invariant scalars for an n-system of screws. The method proposed evaluates the maximum available scalar or Klein product between the unit screw under test and any unit combination of screws reciprocal to all of the set except the test screw. Examples are given of the application of this theory to the behaviour of a partially complete system of kinematic restraint such as those used in manufacturing fixtures of a simple structure and of a serial robotic manipulator.

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1243/09544062C17204

Reference7 articles.

1. Invariant measures of the closeness to linear dependence of six lines or screws

2. Kinematics of Robot Wrists

3. Manipulability of Robotic Mechanisms

4. The Elliptic Polarity of Screws

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