In kinematics, the problem of motion reconstruction involves generation of a motion from the specification of distinct positions of a rigid body. In its most basic form, this problem involves determination of a screw displacement that would move a rigid body from one position to the next. Much, if not all of the previous work in this area, has been based on point geometry. In this paper, we develop a method for motion reconstruction based on line geometry. A geometric method is developed based on line geometry that can be considered a generalization of the classical Reuleaux method used in two-dimensional kinematics. In two-dimensional kinematics, the well-known method of finding the instant center of rotation from the directions of the velocities of two points of the moving body can be considered an instantaneous case of Reuleaux’s method. This paper will also present a three-dimensional generalization for the instant center method or the instantaneous case of Reuleaux’s method using line geometry.
Three-Dimensional Generalizations of Reuleaux’s and Instant Center Methods Based on Line Geometry
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Baroon, J., and Ravani, B. (October 7, 2010). "Three-Dimensional Generalizations of Reuleaux’s and Instant Center Methods Based on Line Geometry." ASME. J. Mechanisms Robotics. November 2010; 2(4): 041011. https://doi.org/10.1115/1.4001727
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