A closed 6R linkage is generically rigid. Special cases may be mobile. Many families of mobile 6R linkages have been characterised in terms of the invariant Denavit-Hartenberg parameters of the linkage. In other words, many sufficient conditions for mobility are known. In this paper we give, for the first time, equational conditions on the invariant Denavit-Hartenberg parameters that are necessary for mobility. The method is based on the theory of bonds. We illustrate the method by deriving the equational conditions for various well-known linkages (Bricard's line symmetric linkage, Hooke's linkage, Dietmaier's linkage, and recent a generalization of Bricard's orthogonal linkage), starting from their bond diagrams; and by deriving the equations for another bond diagram, thereby discovering a new mobile 6R linkage.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A technique for deriving equational conditions on the Denavit–Hartenberg parameters of 6R linkages that are necessary for movability


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2015




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    50.25 Robotertechnik / 52.20 Antriebstechnik, Getriebelehre / 50.32 Dynamik, Schwingungslehre





    Automatic Denavit-Hartenberg parameter identification for serial manipulators

    Faria, Carlos / Vilaça, João L. / Monteiro, Sérgio et al. | BASE | 2019

    Freier Zugriff

    Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg

    Agustian, Indra / Daratha, Novalio / Faurina, Ruvita et al. | BASE | 2021

    Freier Zugriff