Journal ArticleDOI
Motion Synthesis Using Kinematic Mappings
Bahram Ravani,Bernard Roth +1 more
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This article is published in Journal of Mechanisms Transmissions and Automation in Design.The article was published on 1983-09-01. It has received 135 citations till now. The article focuses on the topics: Linear motion & Kinematics.read more
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Journal ArticleDOI
Metrics for 3D Rotations: Comparison and Analysis
TL;DR: It is both spatially and computationally more efficient to use quaternions for 3D rotations than bi-invariant metrics on SO(3) but that only four of them are boundedly equivalent to each other.
Journal ArticleDOI
Is there a characteristic length of a rigid-body displacement?☆
TL;DR: In this paper, it is shown that the singular value decomposition is not needed to derive the approximation error, the polar decomposition of the homogeneous transformation matrix being sufficient, and that the approximation does not have a minimum that would allow us to define naturally the characteristic length.
Journal ArticleDOI
On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies
J. M. R. Martinez,Joseph Duffy +1 more
TL;DR: In this paper, a critical analysis of the metric of rigid body displacements obtained from the so-called kinematic mapping is presented, and it is shown that this metric is not suitable for finite rigid bodies.
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The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane
Curtis L. Collins,J. M. McCarthy +1 more
TL;DR: In this article, the 3-RPR parallel manipulator is studied in the Clifford algebra of the projective plane, C + (P 2 ), which yields a manifold defining its set of reachable positions and orientations.
Journal ArticleDOI
A systematic procedure for type synthesis of mechanisms with literature review literaturbe-sprechung
TL;DR: A systematic procedure for type synthesis, suitable for computer implementation, is introduced and the large body of literature pertaining to type synthesis is discussed in the context of the proposed procedure.