Kinematic analysis of spatial mechanical systems using exponential rotation matrices

Ozgoren M. K.

JOURNAL OF MECHANICAL DESIGN, vol.129, no.11, pp.1144-1152, 2007 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 129 Issue: 11
  • Publication Date: 2007
  • Doi Number: 10.1115/1.2771233
  • Journal Name: JOURNAL OF MECHANICAL DESIGN
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.1144-1152
  • Middle East Technical University Affiliated: Yes

Abstract

The mathematical properties associated with the exponential rotation matrices are reviewed. By means of two typical mechanism examples, it is demonstrated that these properties constitute a versatile analytical tool, which can be used eftectively in kinematic studies on spatial mechanical systems involving position, velocity, acceleration, and singularity analyses.