Articles | Volume 11, issue 1
Research article
 | Highlight paper
01 Apr 2020
Research article | Highlight paper |  | 01 Apr 2020

A general method for the determination of the instantaneous screw axes of one-degree-of-freedom spatial mechanisms

Juan Ignacio Valderrama-Rodríguez, José M. Rico, and J. Jesús Cervantes-Sánchez

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Numerical Modeling and Analysis
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Cited articles

Aronhold, S.: Gründzuge der Kinematischen Geometrie, Verh. d. Ver. Z. Beförderung des Gewerbefleiss in Preussen, 51, 129–155, 1872. a
Di Gregorio, R.: A novel geometric and analytic technique for the singularity analysis of one-dof planar mechanisms, Mech. Mach. Theory, 42, 1462–1483, 2007. a
Di Gregorio, R.: Determination of the instantaneous pole axes in single-Dof spherical mechanisms, Proceedings of the ASME 2008 International Design Engineering Technical Conferences & Computers and Informationn in Engineering Conference IDETC/CIE 2008, Brooklyn, N.Y. Paper DETC 2008-49084, 2008a. a
Di Gregorio, R.: An algorithm for analytically calculating the positions of the secondary instant centers of indeterminate linkages, J. Mech. Des.-T. ASME, 130, 1–9, 2008b. a, b
Di Gregorio, R.: A general algorithm for analytically determining all the instantaneous pole axis locations in single – Dof spherical mechanisms, P. I. Mech. Eng. C-J. Mec., 225, 2062–2075, 2011. a
Short summary
The paper presents a general procedure to determine the instantaneous rotation center for planar mechanisms, or its kinematical equivalent in the case of spherical or spatial cases, from the velocity analysis of the mechanism. The procedure is based on the theoretical results of the Lie algebra, se(3), of the Euclidean group, together with the Killing and Klein forms. The paper shows that a previous contribution contains fundamental errors and it was done in order to unify the theory.