Geometrical kinematic and static analyses of planar manipulators using a barycentric formula
- Authors
- Lee, Chan; Lee, Jie Hyeung; Seo, TaeWon; Lee, Jeh Won
- Issue Date
- Mar-2016
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Axis screw; Line screw; Barycenter; Link parameter design; Motion analysis; Static force analysis
- Citation
- MECHANISM AND MACHINE THEORY, v.97, pp.72 - 84
- Indexed
- SCIE
SCOPUS
- Journal Title
- MECHANISM AND MACHINE THEORY
- Volume
- 97
- Start Page
- 72
- End Page
- 84
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/3240
- DOI
- 10.1016/j.mechmachtheory.2015.10.005
- ISSN
- 0094-114X
- Abstract
- This study provides a geometric interpretation of the kinematics and statics of a planar manipulator using a barycentric formula. The kinematics with instantaneous motion and statics of a manipulator have recently been proven algebraically. In the past, such studies did not provide any intuition about the equations. Robot designers needed numerical methods or trial-and-error solvers using meaningless equations. In contrast, all algebraic processes have their own geometrical meaning. Geometric analysis provides intuition for designing the linkages of a robot. Screw theory and barycentric formulas were used to find meaningful geometric measures. The kinematics and statics of a manipulator are described by an axis screw and its reciprocal, the line screw. The barycenter of a triangle with edges and the perpendicular distance between the two screws are useful geometric measures for geometric analysis.
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