Date of Award

Spring 1995

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering - (M.S.)

Department

Mechanical and Industrial Engineering

First Advisor

Ian Sanford Fischer

Second Advisor

Zhiming Ji

Third Advisor

Kwabena A. Narh

Abstract

An iterative technique was developed to solve the inverse kinematics problem for the joint rotations in both closed-loop and open-loop spatial mechanisms and robotic manipulators in any prescribed configuration. The method is based on fixing one link in space and maneuvering the other links to form a closed chain, following an approximation of the actual physical assembly of the mechanism. In order to apply the same principle to both types of mechanisms, an open-loop mechanism was modeled as a closed-loop mechanism by creating a fictitious fixed link in the free space between the base and the end of the chain of links. A computer program was written to test the validity of the algorithm. The results of several examples and comments on the success and limitations of the method are included. Possible applications and suggestions for future work are proposed.

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