Characterization of the self-motion set of the orthogonal spherical mechanism
نویسندگان
چکیده
The information required for solving the inverse kinematic problem associated with any single-loop spatial mechanism is essentially stored in the inverse kinematic solution set of the orthogonal spherical mechanism (SS ÿ 3 for short). The ®rst part of this paper is devoted to the characterization of SS ÿ 3 in terms of its connectivity, singularities and symmetries. The second one focuses on ®nding simple closed form expressions for its tangent space outside singularities in terms of rotations or rotation axes. Finally, some examples show how the obtained results can be applied to the analysis of spatial mechanisms. # 1998 Elsevier Science Ltd. All rights reserved.
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