Abstract
This paper describes the instantaneous kinematics of the terminal link of a planar two-link open chain using the ca nonical coordinate system of planar two-parameter motion. The first- and second-order instantaneous invariants of the motion of the terminal link are presented. Using a systematic procedure, the results are applied to the inverse velocity and acceleration problems of a two-link open chain. The solutions to the inverse kinematic problems are important, for exam ple, in a robot positioning mechanism. Two examples are presented, a revolute-revolute robot positioner and a pris matic-revolute robot positioner.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
