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RESEARCH PAPERS: Robotics and Related Mechanisms Papers

The Instantaneous Kinematics of Line Trajectories in Terms of a Kinematic Mapping of Spatial Rigid Motion

[+] Author and Article Information
J. M. McCarthy

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104

J. Mech., Trans., and Automation 109(1), 95-100 (Mar 01, 1987) (6 pages) doi:10.1115/1.3258792 History: Received July 01, 1986; Online November 19, 2009

Abstract

The dual Euler parameters of a rigid spatial motion are used to define a curve on a dual unit hypersphere. The dual velocity, curvature, and torsion of this curve form a set of instantaneous parameters related to the instantaneous invariants of the motion. In this paper these new parameters are used to reformulate the kinematic theory of line trajectories. The distribution parameter, Disteli formulas, and the inflection congruence are examined in detail.

Copyright © 1987 by ASME
Topics: Kinematics , Motion , Torsion
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