Kinematics of General Spatial Mechanical Systems. M. Kemal Ozgoren

Convention 7.3 D–H Convention for Successive Intermediate Links and Joints 7.4 D–H Convention for the First Joint 7.5 D–H Convention for the Last Joint 7.6 D–H Convention for Successive Joints with Perpendicularly Intersecting Axes 7.7 D–H Convention for Successive Joints with Parallel Axes 7.8 D–H Convention for Successive Joints with Coincident Axes

      13  8 Position and Motion Analyses of Generic Serial Manipulators Synopsis 8.1 Forward Kinematics 8.2 Compact Formulation of Forward Kinematics 8.3 Detailed Formulation of Forward Kinematics 8.4 Manipulators with or without Spherical Wrists 8.5 Inverse Kinematics 8.6 Inverse Kinematic Solution for a Regular Manipulator 8.7 Inverse Kinematic Solution for a Redundant Manipulator 8.8 Inverse Kinematic Solution for a Deficient Manipulator 8.9 Forward Kinematics of Motion 8.10 Jacobian Matrices Associated with the Wrist and Tip Points 8.11 Recursive Position, Velocity, and Acceleration Formulations 8.12 Inverse Motion Analysis of a Manipulator Based on the Jacobian Matrix 8.13 Inverse Motion Analysis of a Redundant Manipulator 8.14 Inverse Motion Analysis of a Deficient Manipulator 8.15 Inverse Motion Analysis of a Regular Manipulator Using the Detailed Formulation

      14  9 Kinematic Analyses of Typical Serial Manipulators Synopsis 9.1 Puma Manipulator 9.2 Stanford Manipulator 9.3 Elbow Manipulator 9.4 Scara Manipulator 9.5 An RP2R3 Manipulator without an Analytical Solution 9.6 An RPRPR2 Manipulator with an Uncustomary Analytical Solution 9.7 A Deficient Puma Manipulator with Five Active Joints 9.8 A Redundant Humanoid Manipulator with Eight Joints

      15  10 Position and Velocity Analyses of Parallel Manipulators Synopsis 10.1 General Kinematic Features of Parallel Manipulators 10.2 Position Equations of a Parallel Manipulator 10.3 Forward Kinematics in the Position Domain 10.4 Inverse Kinematics in the Position Domain 10.5 Velocity Equations of a Parallel Manipulator 10.6 Forward Kinematics in the Velocity Domain 10.7 Inverse Kinematics in the Velocity Domain 10.8 Stewart–Gough Platform as a 6UPS Spatial Parallel Manipulator 10.9 Delta Robot: A 3RS2S2 Spatial Parallel Manipulator

      16  Bibliography Basic Publications Related Publications of the Author

      17  Index

      18  End User License Agreement

      List of Illustrations

      1 Chapter 1Figure 1.1 A reference frame.

      2 Chapter 2Figure 2.1 Rotation of a vector about an axis.Figure 2.2 Half rotations of the same vector about different axes.

      3 Chapter 3Figure 3.1 A vector observed in two different reference frames.Figure 3.2 Direction angles between two reference frames.Figure 3.3 A point observed in two different reference frames.Figure 3.4 Two positions of a cube.

      4 Chapter 4Figure 4.1 An aircraft observed in an earth fixed reference frame.Figure 4.2 A manipulator with six revolute joints.Figure 4.3 A point observed in two different reference frames.

      5 Chapter 5Figure 5.1 Two rigid bodies connected with a joint.Figure 5.2 Revolute, prismatic, and spherical joints.Figure 5.3 A serial manipulator with an RRP arm.Figure 5.4 Two optional poses of the manipulator for the same location of R. Figure 5.5 Zero‐offset version of the manipulator with an RRP arm.Figure 5.6 A spatial slider‐crank mechanism.Figure 5.7 Projected views of the two closure poses for the same crank angle.Figure 5.8 Projected views of the two closure poses for the same slider positi...

      6 Chapter 6Figure 6.1 Bodies connected by one and two joints.Figure 6.2 A general single‐axis joint.Figure 6.3 Two versions of a universal joint.Figure 6.4 A spherical joint.Figure 6.5 A plane‐on‐plane joint.Figure 6.6 A line‐on‐plane joint.Figure 6.7 A point‐on‐plane joint.Figure 6.8 A point‐on‐surface joint.Figure 6.9 A fork‐on‐surface joint.Figure 6.10 A triangle‐on‐surface joint.Figure 6.11 A surface‐on‐surface joint.Figure 6.12