Design of Spatrial Mechanism with Spherical Joints
碩士 === 國立成功大學 === 機械工程學系 === 89 === Homogeneous transformation matrix is one of the widely mathematical tools of mechanicals engineering. It is usually used in designs and analyses of robotics and machine tools. Therefore, this thesis tries to extend the usage of Denavit-Hartenbereg (D-H)...
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Format: | Others |
Language: | zh-TW |
Published: |
2001
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Online Access: | http://ndltd.ncl.edu.tw/handle/34054315226500595343 |
Summary: | 碩士 === 國立成功大學 === 機械工程學系 === 89 === Homogeneous transformation matrix is one of the widely mathematical tools of mechanicals engineering. It is usually used in designs and analyses of robotics and machine tools. Therefore, this thesis tries to extend the usage of Denavit-Hartenbereg (D-H) matrix in coordinate system settings for mechanics with spherical joints. Finally, the developed algorithm is applied to RSCR, RSCP RSSR, and RSSP spatial mechanisms to verify its validity. The opening of these mechanisms is also investigated.
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