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Examining the Planar Kinematic based on dual Quaternions | ||
| Caspian Journal of Mathematical Sciences | ||
| دوره 12، شماره 1 - شماره پیاپی 23، 2023، صفحه 17-29 اصل مقاله (405.95 K) | ||
| نوع مقاله: Research Articles | ||
| شناسه دیجیتال (DOI): 10.22080/cjms.2022.22203.1596 | ||
| نویسنده | ||
| Vahide Bulut* | ||
| Department of Engineering Sciences, Izmir Katip Celebi University, Cigli, Izmir, 35620, Turkey | ||
| تاریخ دریافت: 06 شهریور 1400، تاریخ بازنگری: 07 مهر 1401، تاریخ پذیرش: 12 مهر 1401 | ||
| چکیده | ||
| Kinematics studies the motion of a rigid object, such as displacement, velocity, acceleration, etc. A general planar motion can be defined as a combination of translation and rotation. Planar motion is widely used in many fields. Since most mobile robots move on flat terrain, many grippers and kinematic linkages use planar motion. The dual quaternion is the generalization of the quaternion and is used in various fields. In this paper, we introduce a new approach to planar motions by using the dual quaternion to study the pole points and pole trajectories, the triple coordinate system and the canonical system, and find the Euler-Savary equation. | ||
| کلیدواژه‌ها | ||
| Dual quaternion؛ planar kinematic؛ velocity؛ pole trajectory؛ Euler-Savary equation | ||
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آمار تعداد مشاهده مقاله: 216 تعداد دریافت فایل اصل مقاله: 148 |
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