Index

Bezout's solution method, 109-110 half-angle-laws, 163-164

Hooke joint, 26
CCC Spatial Manipulator, 99-102 hypothetical closure link, 46-51
Cincinnati Milacron T3-776 robot, 338-351
classification of spatial mechanisms, 56-59 industrial robots:
close-the-loop, 47-51 Cincinnati Milacron T3-776, 338-351
compound transformations, 9-10 G.E. P60, 328-338
coordinate transformations, 4-17 Puma, 40-41, 320-328
cylindric joint, 23 inverse of a transformation, 7-9
iterative solution techniques, 45-46
degrees of freedom, 4, 22-24, 26, 54-56
dual angles, 114-115 joints:
dual numbers, 112-114 Hooke joint, 26
plane joint, 24-25
elimination, 107-110, 162, 204, 375 prismatic joint, 22-23
equivalent spherical mechanism, 53-54 revolute joint, 21-22
screw joint, 23
forward kinematic analysis, 39-41 spherical joint, 26-27
4 4 transformation matrices, 7
kinematic chain, 27-31, 57-58
G.E. P60 robot, 328-338 kinematic inversion, 57
general transformations, 13-17 Kotelnikov, 115
Group 1 Spatial Mechanisms:
RCCC, 99-102 labeling of kinematic chain, 27-31
RCPCR, 92-95 LaPlace's theorem, 175-176
RRPRPPR, 95-99
Group 2 Spatial Mechanisms: mobility, 54-58
RCRCR, 117-124 Modified Flight Telerobotic Servicer robot, 362-379
RRCCR, 124-128
RRRPCR, 129-133 plane joint, 24-25
RRPRCR, 133-139 point transformations, 5-6
RRPRRPR, 139-157 polar polygons:
Group 3 Spatial Mechanisms: heptagon, 87
RCRRRR, 164-178 hexagon, 87
RRPRRRR, 178-202 pentagon, 84
Group 4 Spatial Mechanisms: quadrilateral, 83-84
7R, xii, 2, 204-266 triangle, 73-75
RRRSR, 266-276 polar sine, sine-cosine, and cosine laws:
RRSRR, 276-285 heptagon, 87
RSTR, 285-290 hexagon, 87
RTTT, case 1 290-299 pentagon, 84
RTTT, case 2 299-308 quadrilateral, 83-84
RRR-R-RRR, 308-317 triangle, 73-75

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Index 429

principle of transference, 115 self-scalar product, 111-112

prismatic joint, 22-23 7R mechanism, xii, 2, 204-266
projection of vector loop equation, 111 Space Station Remote Manipulator System,
Puma robot: 352-362
forward displacement analysis, 4CMU spatial link, 20-21
reverse displacement analysis, 320-328 spherical joint, 26-27
spherical link, 53
quaternions: spherical polygons:
algebra, 382-384 heptagon, 86-89
conjugate, 384 hexagon, 86-87
definition, 381-382 pentagon, 84-86
division, 386-387 quadrilateral, 75-84
norm, 385-386 triangle, 68-75
rigid body rotations, 387-391 spherical sine, sine-cosine, and cosine laws:
heptagon, 86-87
RCPCR mechanism, 92-95 hexagon, 86-87
RCRCR mechanism, 117-124 pentagon, 84
RCRRRR mechanism, 164-178 quadrilateral, 75-76
recursive notation: triangle, 68-70
U, V, W definitions, 65-67 standard link coordinate systems, 33-34
X, Y, Z definitions, 60, 62, 64, 187 standard transformations, 10-11
reverse displacement analysis problem statement, 44 subsidiary sine, sine-cosine, and cosine laws:
revolute joint, 21-22 heptagon, 86-87
rigid body rotation, 387-391 hexagon, 86-87
rotation matrix, 13-17 pentagon, 84
RRCCR mechanism, 124-128 quadrilateral, 82-83
RRPRCR mechanism, 129-133 Sylvester's solution method, 108-109
RRPRPPR mechanism, 95-99
RRPRRPR mechanism, 139-157 tan-half-angle solution, 77-78
RRPRRRR mechanism, 178-202 tan-half-angle laws, 163-164
RRRPCR mechanism, 129-133 transformations:
RRRSR mechanism, 266-276 between standard coordinate systems, 34-36
RRR-R-RRR mechanism, 308-317 compound, 9-10
RRSRR mechanism, 276-285 coordinate, 4-17
RSTR mechanism, 285-290 general, 13-17
RTTT mechanism, 290-308 inverse, 7-9
point, 5-6
screw joint, 23 standard, 10-11
secondary cosine laws, 112-117 trigonometric solution, 78-79

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