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contributor authorS. V. Shah
contributor authorS. K. Saha
contributor authorJ. K. Dutt
date accessioned2017-05-09T00:48:47Z
date available2017-05-09T00:48:47Z
date copyrightApril, 2012
date issued2012
identifier issn1555-1415
identifier otherJCNDDM-25804#021006_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/148348
description abstractEuler angles describe rotations of a rigid body in three-dimensional Cartesian space, as can be obtained by, say, a spherical joint. The rotation carried out by a spherical joint can also be expressed by using three intersecting revolute joints that can be described using the popular Denavit-Hartenberg (DH) parameters. However, the motions of these revolute joints do not necessarily correspond to any set of the Euler angles. This paper attempts to correlate the Euler angles and DH parameters by introducing a concept of DH parameterization of Euler angels. A systematic approach is presented in order to obtain the DH parameters for any Euler angles set. This gives rise to the concept of Euler-angle-joints (EAJs), which provide rotations equivalent to a particular set of Euler angles. Such EAJs can be conveniently used for the modeling of multibody systems having multiple-degrees-of-freedom joints.
publisherThe American Society of Mechanical Engineers (ASME)
titleDenavit-Hartenberg Parameterization of Euler Angles
typeJournal Paper
journal volume7
journal issue2
journal titleJournal of Computational and Nonlinear Dynamics
identifier doi10.1115/1.4005467
journal fristpage21006
identifier eissn1555-1423
treeJournal of Computational and Nonlinear Dynamics:;2012:;volume( 007 ):;issue: 002
contenttypeFulltext


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