3 . 3 Kinematic Position Analysis of Proposed Wrist Architecture
نویسنده
چکیده
Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to describe the forward and inverse position relationships in closed-form. The position analysis will also be demonstrated when the wrist is kinematically constrained to behave as a spherical two degree-of-freedom orienting device. Finally, the kinematic position solutions will be used to generate kinematic workspace plots that demonstrate the manipulator’s range of motion.
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