RESEARCH PAPERS: Robotics Papers

Instantaneous Kinematics of Three-Parameter Motions

[+] Author and Article Information
G. R. Pennock

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

A. T. Yang

Department of Mechanical Engineering, University of California, Davis, CA 95616

J. Mech., Trans., and Automation 107(2), 157-162 (Jun 01, 1985) (6 pages) doi:10.1115/1.3258704 History: Received June 13, 1984; Online November 19, 2009


In this paper we study the instantaneous kinematics of a three-link open-chain system. We derive concise closed-form expressions to determine the angular velocity, the pitch, and the instantaneous screw axis that describe the three-parameter motion of the terminal link of the three-link chain relative to the fixed base. Using two joint angular velocity ratios as variable parameters we interpret the double-infinity of solutions as a family of cylindroids. For illustrative purposes, we present an analysis of the arm subassembly of two well-known robot manipulators.

Copyright © 1985 by ASME
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