Limit Positions of Spatial Linkages via Connectivity Sum Reduction

Author:

Baker J. Eddie1

Affiliation:

1. Department of Applied Mechanics, The University of New South Wales, P.O. Box 1, Kensington, N.S.W. 2033, Australia

Abstract

Several methods are available for determining the configurations of spatial linkages at which joint freedoms take limiting values. These approaches emphasize various characteristics of joint limit positions, but none uses directly the fact that the remainder of the linkage has transient mobility at the instant when the joint being considered is locked. It is this feature which is utilized here to show, by means of a range of examples, how limiting configurations may be determined.

Publisher

ASME International

Cited by 5 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Kinematic Investigation of the Deployable Bennett Loop;Journal of Mechanical Design;2006-06-14

2. On Closure Modes and Singular Configurations of Kinematic Chains;Advances in Robot Kinematics;2002

3. Singularity analysis of closed-loop kinematic chains;IEEE Transactions on Robotics and Automation;1990-06

4. The stationary configurations of planar six-bar kinematic chains;Mechanism and Machine Theory;1988-01

5. Screw system algebra applied to special linkage configurations;Mechanism and Machine Theory;1980-01

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