DETERMINATION OF 1ST AND 2ND-ORDER INSTANT SCREW PARAMETERS FROM LANDMARK TRAJECTORIES

被引：31

作者：

SOMMER, HJ

机构：

[1] Mechanical Engineering, The Pennsylvania State University, University Park, PA

来源：

JOURNAL OF MECHANICAL DESIGN | 1992年 / 114卷 / 02期

关键词：

D O I：

10.1115/1.2916943

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Least squares methods were developed to determine instant screw axis (ISA) and angular acceleration axis (AAA) parameters in experimental and analytical studies. The algorithms provide linear relationships for rigid body velocity and acceleration descriptors based on position, velocity, and acceleration data for individual points on the body. Weighted least squares estimators are presented for statistical weighting on individual landmarks as well as for variance weighting to reduce systematic measurement effects. The methods include instantaneous second order screw motion which describes differential geometry of screw axodes. Two spatial mechanism examples provide recommendations for landmark count, distribution, and placement.

引用

页码：274 / 282

页数：9

共 12 条

[1]

Angeles J., Automatic Computation of the Screw Parameters of Rigid Body Motions. Part I: Finitely Separated Positions, Asme J. Dyn. Sys. Meas. And Coni, 108, pp. 32-58, (1986)

[2]

Angeles J., Automatic Computation of the Screw Parameters of Rigid Body Motions: Part II: Infinitesimally Separated Positions, Asme J. Dyn. Sys. Meas. And Coni., 108, 1, pp. 39-43, (1986)

[3]

Angeles J., Computation of Rigid Body Angular Acceleration from Point Acceleration Measurements, Asme J. Dyn. Sys. Meas. And Cont, 109, 2, pp. 124-127, (1987)

[4]

Denavit J., Hartenberg R.S., Razi R., Uicker J.J., Velocity, Acceleration, and Static Force Analyses of Spatial Linkages, ASME J. Applied Mechanics, 87, E, pp. 903-910, (1965)

[5]

Everett J.D., On the Kinematics of a Rigid Body, Quar. J. Pure and Applied Mathematics, 13, pp. 33-66, (1875)

[6]

Haug E.J., Computer-Aided Kinematics and Dynamics of Mechanical Systems, 1, (1989)

[7]

Hunt K.H., Kinematic Geometry of Mechanisms, (1978)

[8]

Spoor C.W., Explanation, Verification, and Application of Helical Axis Error Propagation Formulas, Human Movement Sci., 3, pp. 95-117, (1984)

[9]

Suh C.H., Radcliffe C.W., Kinematics and Mechanisms Design, (1978)

[10]

Veldpaus F.E., Woltring H.J., Dortmaus L.J.M.G., A Least Squares Algorithm for the Equiform Transformation from Spatial Marker Coordinates, J. Biomechanics, 21, 1, pp. 45-54, (1988)

← 1 2 →