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instant_center

# instant_center - Instantaneous Center of Velocity Consider...

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Instantaneous Center of Velocity Consider two links, Link i , and Link . j Definition. The velocity center ij is the common point on i (or its extension) and on (or its extension), which has the same velocity. j The velocity center ij is sometimes called the instantaneous center , or the instantaneous center of Link with respect to Link i . (For a reason that will soon become apparent. See Property C) ij j It follows from the definition that: Property A. The velocity center ij is the same as the velocity center . ji Property B. If , i.e., Link is the ground, then the instantaneous center is the point on which has zero velocity. 1 = i i j 1 j Property C. The instantaneous center ij is a point on which has zero velocity with respect to an observer, which is fixed to Link i . j Property D. The instantaneous center can be obtained by knowing the direction of the velocities and of two distinct points, j 1 A v B v A and B , provided that is not perpendicular to the line A v B A . This is demonstrated in Figure 1(a) for the case where is not parallel to , and in Figure 1(b) for the

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instant_center - Instantaneous Center of Velocity Consider...

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