RESEARCH PAPERS: Robotic Manipulator and Mechanisms Papers

Connectivity-Three Mechanical Couplings and the Algebraic Complexes They Trace

[+] Author and Article Information
E. F. Fichter

Industrial and General Engineering Department, Oregon State University, Corvallis, Ore. 97331

J. Mech., Trans., and Automation 105(1), 58-61 (Mar 01, 1983) (4 pages) doi:10.1115/1.3267348 History: Received May 17, 1982; Online November 19, 2009


The subject of this paper is the degree of the algebraic line complexes traced by mechanisms consisting of three connectivity-1 couplings arranged in series. A theorem which gives the degree is presented and proved. The theorem is applied to the eight mechanisms consisting only of single kinematic pairs (revolute and prismatic). In the discussions of some of these mechanisms the degree is determined independently of the proof of the theorem. The theorem is also applied to the mechanisms of some commercial robotic manipulators.

Copyright © 1983 by ASME
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