Kinematic analysis of spatial mechanical systems using exponential rotation matrices


Ozgoren M. K.

JOURNAL OF MECHANICAL DESIGN, cilt.129, ss.1144-1152, 2007 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 129 Konu: 11
  • Basım Tarihi: 2007
  • Doi Numarası: 10.1115/1.2771233
  • Dergi Adı: JOURNAL OF MECHANICAL DESIGN
  • Sayfa Sayıları: ss.1144-1152

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.