Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2002.10a
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- Pages.912-915
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- 2002
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- 2005-8446(pISSN)
Acceleration analysis by using line geometry and its application to dynamics
선 기하를 이용한 가속도 해석과 동역학에의 적용
Abstract
It has been known that general velocity and force of a rigid body in space can be described in forms of a twist and a wrench by use of screws. However, the geometrical meaning of acceleration has not been clearly disclosed. It has been a normal practice to analyze or synthesize the acceleration effect of manipulator using some complex mathematical equations, which do not represent any geometrical meanings. In other words, such a technique doesn't clearly provide information about the overall acceleration state of manipulator at that instant. In this study, the geometrical meaning of acceleration of a rigid body has been investigated and thereby a geometrical procedure which can be applied to inverse acceleration analysis of a general non-redundant manipulator is presented as an application.
Keywords