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The robot Jacobian results in a set of linear equations that relate the joint rates to the six-vector formed from the angular and linear velocity of the end-effector, known as a twist. Specifying the joint rates yields the end-effector twist directly. The inverse velocity problem seeks the joint rates that provide a specified end-effector twist.
This version of the kinematic diagram has proven effective in enumerating kinematic structures in the process of machine design. [2] An important consideration in this design process is the degree of freedom of the system of links and joints, which is determined using the Chebychev–Grübler–Kutzbach criterion.
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The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics. Forward vs Backwards Kinematics
Underwater walking robot, using Klann leg linkages in laser-cut and anodised aluminium. [1] The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a leg mechanism. The linkage consists of the frame, a crank, two grounded rockers, and two couplers all connected by pivot joints.
For each joint of the kinematic chain, an origin point q and an axis of action are selected for the zero configuration, using the coordinate frame of the base. In the case of a prismatic joint, the axis of action v is the vector along which the joint extends; in the case of a revolute joint, the axis of action ω the vector normal to the rotation.
A process flow diagram (PFD) is a diagram commonly used in chemical and process engineering to indicate the general flow of plant processes and equipment. The PFD displays the relationship between major equipment of a plant facility and does not show minor details such as piping details and designations.
The first structured method for documenting process flow, the flow process chart, was introduced by Frank Gilbreth to members of American Society of Mechanical Engineers (ASME) in 1921 as the presentation “Process Charts—First Steps in Finding the One Best Way”. [5] Gilbreth's tools quickly found their way into industrial engineering ...