Kinematics of a screw linkage

oleh: Jing-Shan Zhao, Song-Tao Wei, Junjie Ji

Format: Article
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.