The paperfocusesontheuseofCayley–Klein(CK)parametersinthedescriptionofrigid- body kinematics.Afterabriefhistoricaloverview,anintroductiontothisconceptisof- fered. Newformulasforfirstandsecondtimederivativesof22 transformsbasedonthe CK parametersarehereinderived.Theseformulasareextendedalsotodualnumbers. Basedontheseresults,thekinematicanalysismethodologyoriginallyduetoDenavitis completed,therebyallowingforthevelocityandaccelerationanalysisofspatiallinkages. Different numericalexampleswithapplicationsoftheconceptsproposedherearein- cluded.
Pennestri', E., Valentini, P.p., Figliolini, G., Angeleles, J. (2016). Dual Cayley-Klein parameters and Möbius transform: theory and applications. MECHANISM AND MACHINE THEORY, 106, 50-67 [10.1016/j.mechmachtheory.2016.08.008].
Dual Cayley-Klein parameters and Möbius transform: theory and applications
PENNESTRI', ETTORE;VALENTINI, PIER PAOLO;
2016-01-01
Abstract
The paperfocusesontheuseofCayley–Klein(CK)parametersinthedescriptionofrigid- body kinematics.Afterabriefhistoricaloverview,anintroductiontothisconceptisof- fered. Newformulasforfirstandsecondtimederivativesof22 transformsbasedonthe CK parametersarehereinderived.Theseformulasareextendedalsotodualnumbers. Basedontheseresults,thekinematicanalysismethodologyoriginallyduetoDenavitis completed,therebyallowingforthevelocityandaccelerationanalysisofspatiallinkages. Different numericalexampleswithapplicationsoftheconceptsproposedherearein- cluded.| File | Dimensione | Formato | |
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