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Kinematics of a screw linkage
oleh: Jing-Shan Zhao, Song-Tao Wei, Junjie Ji
Format: | Article |
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Diterbitkan: | Springer 2021-11-01 |
Deskripsi
Article highlights 1. The angular and linear velocities of each link of a series linkage are expressed by the twists of its predecessors. 2. Loop equation of velocity provides a convenient way to gain both forward and inverse kinematics for a closed linkage. 3. Forward and inverse displacement and acceleration of the linkage are calculated by integral and differential methods, numerically or analytically.