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A new notation is developed to model and analyze spatial robots. This method is formulated based on the homogeneous cylindrical coordinates and Bryant angles transformation matrices and thus termed 'C-B notation.' At first, shape matrix for a binary link is derived. Then, the characteristic matrices for the five most commonly used kinematic lower pairs-revolute (R), prismatic (P), cylindrical (C), helical (H), and spherical (S)-are formulated. The 'exact' joint positions, that is, the actual loc...
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