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RESEARCH PAPERS

Determination of First and Second Order Instant Screw Parameters from Landmark Trajectories

[+] Author and Article Information
H. J. Sommer

Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802

J. Mech. Des 114(2), 274-282 (Jun 01, 1992) (9 pages) doi:10.1115/1.2916943 History: Received March 01, 1990; Online June 02, 2008

Abstract

Least squares methods were developed to determine instant screw axis (ISA) and angular acceleration axis (AAA) parameters in experimental and analytical studies. The algorithms provide linear relationships for rigid body velocity and acceleration descriptors based on position, velocity, and acceleration data for individual points on the body. Weighted least squares estimators are presented for statistical weighting on individual landmarks as well as for variance weighting to reduce systematic measurement effects. The methods include instantaneous second order screw motion which describes differential geometry of screw axodes. Two spatial mechanism examples provide recommendations for landmark count, distribution, and placement.

Copyright © 1992 by The American Society of Mechanical Engineers
Topics: Screws
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