This paper describes the instantaneous kinematics of the terminal link of a planar two-link open chain using the ca nonical coordinate system of planar two-parameter motion. The first- and second-order instantaneous invariants of the motion of the terminal link are presented. Using a systematic procedure, the results are applied to the inverse velocity and acceleration problems of a two-link open chain. The solutions to the inverse kinematic problems are important, for exam ple, in a robot positioning mechanism. Two examples are presented, a revolute-revolute robot positioner and a pris matic-revolute robot positioner.
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References
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Blaschke, W., and Muller, H.R.1956. Ebene kinematikR. Oldenbourg Verlag.Munich.
Roth, B., and Yang, A.T.1977. Application of instantaneous invariants to the analysis and synthesis of mechanisms. J. of Eng. for Industry, Trans. ASME Series B, 99:97-103.
