The application of the dual number methods to scara kinematics

摘要

The screw theory has been an extraordinary important mathematical tool in research of spatial mechanics, also the dual number methods can describe the screw motion of rigid body wonderfully. By introducing the basic conceptions of dual number methods, the link dual matrix comprising the D-H parameters is constituted, furthermore, the direct and inverse kinematics of the SCARA robot was solved. The solving process proved that the dual number allows compact formulations considerably facilitating the analysis of robot kinematics.