TY - GEN
T1 - Rational motion interpolation under kinematic constraints of planar 6R closed chain
AU - Jin, Zhe
AU - Ge, Q. J.
PY - 2008
Y1 - 2008
N2 - This paper deals with the problem of synthesizing planar rational motions under the kinematic constraints of planar 6R closed chain. It follows our previous work on the synthesis of rational motions under the kinematic constraints of planar open chains. Planar quaternions are used to represent planar displacements. In this way, the problem of rational motion interpolation is transformed into that of rational curve interpolation, and the kinematic constraints of a planar 6R closed chain are transformed into geometric constraints for the rational interpolation. An algorithm for the constrained motion interpolation is developed that detects an extreme position on the rational motion that violates the kinematic constraints. This position is then modified so that it is in compliance with the kinematic constraints and is added to the list of positions to be interpolated. By restricting the kinematic constraints to 5R and 4R closed chains, the algorithm is also applicable to the problem of synthesizing planar rational motions for 5R and 4R closed chains.
AB - This paper deals with the problem of synthesizing planar rational motions under the kinematic constraints of planar 6R closed chain. It follows our previous work on the synthesis of rational motions under the kinematic constraints of planar open chains. Planar quaternions are used to represent planar displacements. In this way, the problem of rational motion interpolation is transformed into that of rational curve interpolation, and the kinematic constraints of a planar 6R closed chain are transformed into geometric constraints for the rational interpolation. An algorithm for the constrained motion interpolation is developed that detects an extreme position on the rational motion that violates the kinematic constraints. This position is then modified so that it is in compliance with the kinematic constraints and is added to the list of positions to be interpolated. By restricting the kinematic constraints to 5R and 4R closed chains, the algorithm is also applicable to the problem of synthesizing planar rational motions for 5R and 4R closed chains.
UR - https://www.scopus.com/pages/publications/44849123468
U2 - 10.1115/DETC2007-35118
DO - 10.1115/DETC2007-35118
M3 - Conference contribution
AN - SCOPUS:44849123468
SN - 0791848027
SN - 9780791848029
SN - 0791848094
SN - 9780791848098
T3 - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
SP - 1109
EP - 1117
BT - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
T2 - 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Y2 - 4 September 2007 through 7 September 2007
ER -