On Motion of Robot End-Effector Using the Curvature Theory of Timelike Ruled Surfaces with Timelike Rulings

被引：7
|
作者：
Ekici, Cumali [1 ]
Unluturk, Yasin [1 ]
Dede, Mustafa [1 ]
Ryuh, B. S. [2 ]
机构：
[1] Eskisehir Osmangazi Univ, Dept Math, TR-26480 Eskisehir, Turkey
[2] Chonbuk Natl Univ, Coll Engn, Div Mech Engn, Jeonju 561756, South Korea
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2008年 / 2008卷
关键词：
D O I：
10.1155/2008/362783
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The trajectory of a robot end-effector is described by a ruled surface and a spin angle about the ruling of the ruled surface. In this way, the differential properties of motion of the end-effector are obtained from the well-known curvature theory of a ruled surface. The curvature theory of a ruled surface generated by a line fixed in the end-effector referred to as the tool line is used for more accurate motion of a robot end-effector. In the present paper, we first defined tool trihedron in which tool line is contained for timelike ruled surface with timelike ruling, and transition relations among surface trihedron: tool trihedron, generator trihedron, natural trihedron, and Darboux vectors for each trihedron, were found. Then differential properties of robot end-effector's motion were obtained by using the curvature theory of timelike ruled surfaces with timelike ruling. Copyright (C) 2008 Cumali Ekici et al.
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页数：19
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