论文信息 - A Linear Algebraic Procedure in Obtaining Reciprocal Screw Systems

A Linear Algebraic Procedure in Obtaining Reciprocal Screw Systems

This paper presents a linear algebraic procedure in obtaining (6−n) reciprocal screws from an n-screw system of a robotic manipulator. The procedure starts by formulating the reciprocal relationship between a screw system and its reciprocal screw system in matrix form, and augmenting the screw matrix which is assembled with n screws in the screw system. Vectors of cofactors of the augmented row are then produced and the partitioning of the screw matrix is implemented to generate each of the (6−n) reciprocal screws. The theory developed in this paper provides a novel and simple procedure to obtain reciprocal screws from any screw system. The paper illustrates applications to cases with different screw systems. © 2003 Wiley Periodicals, Inc.

Jian S. Dai | J. R. Jones | John Rees Jones | J. Dai

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