モータ代数とグラフ理論による機構の記述と解析(第1報) : 自由度の定義と速度解析

概要

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A new definition of degrees of freedom of mechanisms is presented in terms of pair-loop matrices derived from pair-axis-motors and circuit matrices. A motor or a set of screw coordinates is an extended form of a vector by which instantaneous motion of a rigid body can be represented completely and uniquely. Superpositions of velocities correspond to summations of motors. The definition is valid for mechanisms with multiple closed loops and with critical forms such as pantograph. Pair-loop matrices have enough information of constraints of mechanisms to set up loop equations which determine magnitude ratios of relative velocities on all pairs. An algorithm based on pair loop equations is presented in order to simulate motion of mechanisms. Output examples of simulation program coded in APL show the effectiveness and conciseness of this algorithm.
公益社団法人精密工学会の論文
1988-07-05