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Technical Brief

Geometrical Characterization of Screw Systems Based on the General-Linear Decomposition

[+] Author and Article Information
Genliang Chen

State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, China
leungchan@sjtu.edu.cn

Hao Wang

State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, China
wanghao@sjtu.edu.cn

Zhongqin Lin

State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, China
zqlin@sjtu.edu.cn

Xinmin Lai

State Key Laboratory of Mechanical System and Vibration, Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, China
xmlai@sjtu.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4039218 History: Received July 09, 2015; Revised June 27, 2017

Abstract

The theory of screws plays a fundamental role in the ?eld of mechanisms and robotics. Based on the rank-one decomposition of positive semide?nite matrices, this paper presents a new algorithm to identify the canonical basis of high-order screw systems. Using the proposed approach, a screw system can be decomposed into the direct sum of two subsystems, which are referred to as the general and special subsystems, respectively. By a particular choice of the general subsystem, the canonical basis of the original system can be obtained by the direct combination of the subsystems' principal elements. In the proposed decomposition, not only the canonical form of the screw system, but also the corresponding distribution of all those possible base elements can be determined in a straightforward manner.

Copyright (c) 2018 by ASME
Topics: Screws , Algorithms , Robotics
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