Kinematic analysis of spatial mechanical systems using exponential rotation matrices

Ozgoren M. K.

JOURNAL OF MECHANICAL DESIGN, cilt.129, sa.11, ss.1144-1152, 2007 (SCI-Expanded) identifier identifier

  • 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.