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

Abstract

The paperfocusesontheuseofCayley–Klein(CK)parametersinthedescriptionofrigid- body kinematics.Afterabriefhistoricaloverview,anintroductiontothisconceptisof- fered. Newformulasforfirstandsecondtimederivativesof22 transformsbasedonthe CK parametersarehereinderived.Theseformulasareextendedalsotodualnumbers. Basedontheseresults,thekinematicanalysismethodologyoriginallyduetoDenavitis completed,therebyallowingforthevelocityandaccelerationanalysisofspatiallinkages. Different numericalexampleswithapplicationsoftheconceptsproposedherearein- cluded.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-IND/13 - Meccanica Applicata alle Macchine
English
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].
Pennestri', E; Valentini, Pp; Figliolini, G; Angeleles, J
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/183542
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