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Line-Symmetric Motion Generators

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Advances in Robot Kinematics 2018 (ARK 2018)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 8))

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Abstract

A class of line-symmetric motion generators is synthesized here for the first time. Line-symmetric motions comprise motions of a axial-symmetric object from an initial to a target configuration, by screwing along the common perpendicular of the initial and the goal axis, without incurring self spin or sliding of the object about and along its own axis. These motions have application in several robot mechanism synthesis for line-symmetric manipulation tasks, e.g., minimal invasive surgery robots and haptic interfaces.

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Notes

  1. 1.

    Case G refers to the general 4-system, whereas cases I, II, III, IV and V refer to special 4-systems of types 1 through 5. A subscript 0, 1 or 2 indicates the presence of, respectively, 0, 1 or 2 real directrices.

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Author information

Authors and Affiliations

  1. University of Bologna, 40136, Bologna, Italy

    Yuanqing Wu & Marco Carricato

Authors
  1. Yuanqing Wu
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  2. Marco Carricato
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Corresponding author

Correspondence to Yuanqing Wu .

Editor information

Editors and Affiliations

  1. J. Stefan Institute, Ljubljana, Slovenia

    Jadran Lenarcic

  2. Department of Industrial Engineering, University of Bologna, Bologna, Italy

    Vincenzo Parenti-Castelli

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Wu, Y., Carricato, M. (2019). Line-Symmetric Motion Generators. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_40

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