RESEARCH PAPERS: Robotics and Related Mechanisms Papers

Instantaneous Properties of Multi-Degrees-of-Freedom Motions—Line Trajectories

[+] Author and Article Information
Ashitava Ghosal, Bernard Roth

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

J. Mech., Trans., and Automation 109(1), 116-124 (Mar 01, 1987) (9 pages) doi:10.1115/1.3258774 History: Received July 01, 1986; Online November 19, 2009


A general framework is presented for the study of the properties of trajectories generated by lines embedded in rigid bodies undergoing multi-degrees-of-freedom motions. Several new concepts, such as a line’s angular and linear velocities and accelerations, are introduced and used to (1) characterize the differences between line trajectories generated by different mechanisms; (2) distinguish trajectories generated by different lines in the same rigid body; (3) distinguish properties at different positions in the same trajectory. Line trajectories are classified according to the number of degrees of freedom of the motion, and local and global properties are discussed. These techniques are illustrated in an example of a line trajectory generated by a two-degrees-of-freedom manipulator.

Copyright © 1987 by ASME
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