• DocumentCode
    299897
  • Title

    On the duality of twist/wrench distributions in serial and parallel chain robot manipulators

  • Author

    Collins, Curtis L. ; Long, Gregory L.

  • Author_Institution
    Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
  • Volume
    1
  • fYear
    1995
  • fDate
    21-27 May 1995
  • Firstpage
    526
  • Abstract
    Duality and reciprocity between twist and wrench systems is the essence of screw theory. The power of these concepts lies in the idea that once a result is obtained for one type of system it can immediately be applied to the dual system provided the appropriate physical interpretation is also translated. The interrelation between serial and parallel mechanisms is a consequence of this twist/wrench duality. The purpose of this investigation is to focus on some fundamental configurations of serial and parallel robot manipulators in an attempt to further elucidate the various correspondences that exist between their geometries and their kinematic equations. The focus is on zero-pitch screw systems, namely revolute joints for serial manipulators and force producing sub-chains in parallel manipulators. Solutions for twist/wrench distributions will be discussed for both proper and redundant systems
  • Keywords
    duality (mathematics); manipulator kinematics; fundamental configurations; geometries; kinematic equations; parallel chain robot manipulators; reciprocity; redundant systems; revolute joints; screw theory; serial chain robot manipulators; sub-chains; twist/wrench distribution duality; zero-pitch screw systems; Aerospace engineering; Computational geometry; Couplings; Equations; Fasteners; Jacobian matrices; Kinematics; Manipulators; Parallel robots; Robotics and automation;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
  • Conference_Location
    Nagoya
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-1965-6
  • Type

    conf

  • DOI
    10.1109/ROBOT.1995.525337
  • Filename
    525337