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• W1999566389 abstract "SUMMARY Screw theory has demonstrated its wide applications in robot kinematics and statics. We aim to propose an intuitive geometrical approach to obtain the reciprocal screws for a given screw system. Compared with the traditional Plücker coordinate method, the new approach is free from algebraic manipulation and can be used to obtain the reciprocal screws just by inspecting the structure of manipulator. The approach is based on three observations that describe the geometrical relation for zero pitch screw and infinite pitch screw. Based on the observations, the reciprocal screw systems of several common kinematic elements are analyzed, including usual kinematic pairs and chains. We also demonstrate usefulness of the geometrical approach by a variety of applications in mobility analysis, Jacobian formulation, and singularity analysis for parallel manipulator. This new approach can facilitate the parallel manipulator design process and provide sufficient insights for existing manipulators." @default.
• W1999566389 created "2016-06-24" @default.
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• W1999566389 date "2009-04-03" @default.
• W1999566389 modified "2023-10-13" @default.
• W1999566389 title "Geometrical method to determine the reciprocal screws and applications to parallel manipulators" @default.
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• W1999566389 doi "https://doi.org/10.1017/s0263574709005359" @default.
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