Robotic Bevel-gear Differential Train

摘要

A robotic bevel-gear train with three input parameters is considered. The contents of this paper cover: (1) derivation of basic kinematic equations that relate the train input parame ters and the end-effector direction cosines, (2) determination of singularities in motion of the gear train, and (3) the com putational procedure for the invert kinematics.