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TECHNICAL PAPERS

Approximating Spatial Locations With Spherical Orientations for Spherical Mechanism Design

[+] Author and Article Information
David M. Tse, Pierre M. Larochelle

Robotics and Spatial Systems Laboratory, Mechanical Engineering Program, Florida Institute of Technology, Melbourne, FL 32901

J. Mech. Des 122(4), 457-463 (Jul 01, 1998) (7 pages) doi:10.1115/1.1289139 History: Received July 01, 1998
Copyright © 2000 by ASME
Topics: Design , Mechanisms , Motion
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References

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Larochelle,  P. M., and McCarthy,  J. M., 1995, “Planar Motion Synthesis Using an Approximate Bi-Invariant Metric,” ASME J. Mech. Des., 117, pp. 646–651.
Ruth, D. A., and McCarthy, J. M., 1997, “The Design of Spherical 4R Linkages for Four Specified Orientations,” Proceedings of the ASME Design Engineering Technical Conference.
Osborn, S. W., and Vance, J. M., 1995, “A Virtual Reality Environment for Synthesizing Spherical Four-Bar Mechanisms,” Proceedings of the ASME Design Engineering Technical Conferences, Vol. DE-83, pp. 885–892.
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Etzel, K. R., and McCarthy, J. M., 1996, “A Metric for Spatial Displacements using Biquaternions on SO(4),” Proceedings of the ASME Design Engineering Technical Conference and Computers in Engineering Conference, DETC/MECH 1164, pp. 3185–3190.
Ge, Q. J., 1994, “On Matrix Algebra Realization of the Theory of Bi-quaternions,” Proceedings of the ASME Design Engineering Technical Conferences, DE-Vol. 70, pp. 425–432.
Larochelle, P. M., 1994, “Design of Cooperating Robots and Spatial Mechanisms,” Ph.D. Dissertation, University of California, Irvine.
McCarthy, J. M., 1990, An Introduction to Theoretical Kinematics, MIT Press.
Paul, R. P., 1981, Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Massachusetts.
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Figures

Grahic Jump Location
Common normal of two screw axes
Grahic Jump Location
Case 1: Optimal design sphere and orientations for the desired task
Grahic Jump Location
Case 1: A spherical mechanism for the desired task
Grahic Jump Location
Case 1: A solution implementation for the desired task
Grahic Jump Location
Case 2: Ten original locations and their optimal orientations
Grahic Jump Location
Case 2: Ten original locations and their optimal orientations
Grahic Jump Location
Case 3: Five original locations and their optimal orientations

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