The Joint Displacement Method for Multiloop Kinematic Analysis

• YANG Yu-Neng

  Department of Mechanical Engineering, National Chiao-Tung University

• CHIENG Wei-Hua

  Department of Mechanical Engineering, National Chiao-Tung University

• LEE An-Chen

  Department of Mechanical Engineering, National Chiao-Tung University

Abstract

We present a kinematic formulation, referred to as the joint displacement method. In the kinematic analysis, the closed-loop kinematic chain of interest must be transformed into several open-loop chains by imagining that some joints are relaxed (disconnected), and by replacing them as physical entities with a set of constraint equations. This formulation requires only a minimal number of generalized coordinates, hence it provides a highly efficient approach for real-time kinematic analysis of spatial mechanisms, heretofore unseen in the literature. For example, the Jacobian matrix for the RSCR mechanism is 3×3 and the CPU time required to perform Gauss elimination is 182 times shorter than that in the traditional link-coordinate method which requires a 17×17 Jacobian matrix. This method is applicable to both single loop and multiloop spatial mechanisms with revolute, cylindrical, translational, spherical and universal joints. A general-purpose computer program that implements the joint displacement method has been developed and tested on a variety of mechanisms.

Journal

• JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing

  JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing 38 (4), 790-797, 1995-12-01

  The Japan Society of Mechanical Engineers

Keywords

• Kinematic Analysis
• Spatial Multiloop Mechanisms

Details

• CRID: 1573387451801788160
• NII Article ID: 110004089516
• NII Book ID: AA10898309
• ISSN: 13408062
• Text Lang: en
• Data Source:
  • CiNii Articles