The Canonical Inverse Velocity and Acceleration Solutions of a Planar Two-Link Open Chain

Abstract

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.