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RESEARCH PAPERS

Kinematic Analysis of Spatial Mechanical Systems Using Exponential Rotation Matrices

[+] Author and Article Information
M. Kemal Özgören

Mechanical Engineering Department, Middle East Technical University, 06531 Ankara, Turkeyozgoren@metu.edu.tr

J. Mech. Des 129(11), 1144-1152 (Nov 06, 2006) (9 pages) doi:10.1115/1.2771233 History: Received February 27, 2006; Revised November 06, 2006

The mathematical properties associated with the exponential rotation matrices are reviewed. By means of two typical mechanism examples, it is demonstrated that these properties constitute a versatile analytical tool, which can be used effectively in kinematic studies on spatial mechanical systems involving position, velocity, acceleration, and singularity analyses.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Spatial crank-coupler-crank mechanism

Grahic Jump Location
Figure 2

Mechanism with screw and line-on-plane joints

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