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Technical Brief

Special Unitary Matrices in the Analysis and Synthesis of Spherical Linkages

[+] Author and Article Information
Saleh M. Almestiri

Mechanical and Aerospace Engineering,
University of Dayton,
Dayton, OH 45469
e-mail: almestiri@gmail.com

Andrew P. Murray

Mechanical and Aerospace Engineering,
University of Dayton,
Dayton, OH 45469
e-mail: murray@udayton.edu

David H. Myszka

Mechanical and Aerospace Engineering,
University of Dayton,
Dayton, OH 45469
e-mail: dmyszka@udayton.edu

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received April 14, 2018; final manuscript received September 21, 2018; published online November 13, 2018. Assoc. Editor: Hai-Jun Su.

J. Mechanisms Robotics 11(1), 014503 (Nov 13, 2018) (4 pages) Paper No: JMR-18-1102; doi: 10.1115/1.4041633 History: Received April 14, 2018; Revised September 21, 2018

This work seeks to systematically model and solve the equations associated with the kinematics of spherical mechanisms. The group of special unitary matrices, SU(2), is utilized throughout. Elements of SU(2) are employed here to analyze the three-roll wrist and the spherical Watt I linkage. Additionally, the five orientation synthesis of a spherical four-bar mechanism is solved, and solutions are found for the eight orientation synthesis of the Watt I linkage. Using SU(2) readily allows for the use of a homotopy-continuation-based solver, in this case Bertini. The use of Bertini is motivated by its capacity to calculate every solution to a design problem.

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Copyright © 2019 by ASME
Topics: Kinematics , Linkages
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References

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Figures

Grahic Jump Location
Fig. 1

A spherical Watt I six-bar linkage with the joint angles and physical parameters identified

Grahic Jump Location
Fig. 2

The parameters of the spherical four-bar identified for solving the synthesis problem. All frames are located in the center of the sphere but some are shown on the sphere's surface for clarity.

Grahic Jump Location
Fig. 3

The parameters of the spherical Watt I identified for modeling the synthesis problem. All frames are located in the center of the sphere but are shown on the sphere for clarity.

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