Displacement Analysis of a Spatial 7R Mechanism—A Generalized Lobster’s Arm
Keyword(s):
An input-output equation of degree 24 is derived for a spatial 7R mechanism with consecutive pair axes intersecting. This mechanism is essentially the mathematical model for the kinematic analysis of a lobster’s arm which is an open 6R chain with mutually perpendicular consecutive pair axes, the geometry of which was first described by Willis [4] in 1841. The analysis of this special 7R mechanism constitutes a major step towards the solution of the general 7R mechanism with seven axes arbitrarily oriented in space.
1976 ◽
Vol 4
(2)
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pp. 71-76
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1983 ◽
Vol 105
(1)
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pp. 78-87
Keyword(s):
2014 ◽
Vol 644-650
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pp. 215-219
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2013 ◽
Vol 227
(8)
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pp. 1864-1869
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2014 ◽
Vol 1042
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pp. 182-187
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Keyword(s):
1985 ◽
Vol 107
(3)
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pp. 353-357
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