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Characterization of the self-motion set of the orthogonal spherical mechanism

AuthorsCastellet, Albert; Thomas, Federico
Issue Date1999
CitationMechanism and Machine Theory 34(1): 59-88 (1999)
AbstractThe information required for solving the inverse kinematic problem associated with any single-loop spatial mechanism is essentially stored in the inverse kinematic solution set of the orthogonal spherical mechanism (SSn - 3 for short). The first part of this paper is devoted to the characterization of SSn - 3 in terms of its connectivity, singularities and symmetries. The second one focuses on finding simple closed form expressions for its tangent space outside singularities in terms of rotations or rotation axes. Finally, some examples show how the obtained results can be applied to the analysis of spatial mechanisms. © 1998 Elsevier Science Ltd. All rights reserved.
Publisher version (URL)http://dx.doi.org/10.1016/S0094-114X(98)00004-4
Identifiersdoi: 10.1016/S0094-114X(98)00004-4
issn: 0094-114X
Appears in Collections:(IRII) Artículos
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