Computational Efficient Mechanisms

被引：0

作者：

Bai, Shaoping ^{[1
]}

机构：

[1] Aalborg Univ, Dept Mat & Prod, DK-9220 Aalborg, Denmark

来源：

ADVANCES IN ROBOT KINEMATICS 2024, ARK 2024 | 2024年 / 31卷

关键词：

computational kinematics; computational efficiency; spherical linkages; spherical parallel mechanisms (SPM); non-orthogonal coordinate frame; KINEMATICS; ALGORITHM; DYNAMICS;

D O I：

10.1007/978-3-031-64057-5_41

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this work, mechanisms that admit efficient kinematic computation are studied. The computational efficient mechanisms are a special class of linkages that their constraint equations contain lower-order terms than the ordinary linkages. The lower-order constraint equations are of lower complexity of computation and thus readily solved. In the paper, we examine the existence of such kinds of linkages. Examples of computational mechanisms are provided for the five-bar spherical linkage and the 3-RRR spherical parallel mechanism.

引用

页码：356 / 364

页数：9

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