On Regular Kinematotropies

Kinematotropic linkage are fascinating as they can switch between motion mode with different DOF. Beside the mere curiosity, this phenomenon has also application potential. From this perspective it is crucial to consider the limitations that the actual motions impose on the operation of such linkages. Such a limiting factor is the smoothness of the transitory motion when switching between motion modes with different DOF. Given a particular kinematotropic mechanism, the feasible motions can be analyzed by means of a local higher-order analysis of the configuration space. This is addressed in this paper. The computational part of the method involves only Lie brackets of the instantaneous joint screws. Two examples are presented: a 7R linkage and the Wunderlich linkage. It is shown that the latter possesses a regular kinematotropy, i.e. it can smoothly move between its motion modes.

並列關鍵字

Kinematotropy ； singularities ； overconstrained ； Wunderlich linkage ； higher-order kinematics ； screws ； Lie groups

被引用紀錄

Huang, C. C. (2012). 互動式電腦輔助翻譯與寫作助手 [doctoral dissertation, National Tsing Hua University]. Airiti Library. https://doi.org/10.6843/NTHU.2012.00544

周建邦（2009）。中文大詞彙語音辨認之語言模型改進〔碩士論文，國立交通大學〕。華藝線上圖書館。https://doi.org/10.6842/NCTU.2009.01146

范偉銘（2017）。使用者評論對購買電競筆電的影響 ─以涉入程度、認知需求為干擾變數〔碩士論文，中原大學〕。華藝線上圖書館。https://doi.org/10.6840/cycu201700700

Hung, C. C. (2018). 基於單眼視覺里程計與路面標誌疊合之結構路面車輛定位系統 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU201800582

Chen, Y. F. (2018). 主動流體的輸送現象 [doctoral dissertation, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU201800297

國際替代計量

On Regular Kinematotropies

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