Kinematic analysis of spatial mechanical systems using exponential rotation matrices
JOURNAL OF MECHANICAL DESIGN, cilt.129, sa.11, ss.1144-1152, 2007 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 129 Sayı: 11
- Basım Tarihi: 2007
- Doi Numarası: 10.1115/1.2771233
- Dergi Adı: JOURNAL OF MECHANICAL DESIGN
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.1144-1152
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
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.