モータ代数とグラフ理論による機構の記述と解析(第2報) : 拘束行列による速度解析の高速化

概要

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A high-speed algorithm for the velocity analysis of mechanisms is established in terms of constraints matrix derived from pair-axis-motors and circuit matrix. The constraints matrix of a mechanism with single or multiple closed loops becomes a symmetric matrix whose order is equal to the number of pair-axes in the mechanism. The magnitude ratios of relative velocities at all pairs are determined by the system of homogeneous linear equations with constraints matrix as the coefficient matrix. A FORTRAN program based on this algorithm is created for simulating the motion of deterministic mechanisms. The program was also applied to solve inverse kinematics problem of robot to confirm the computational rate and accuracy of the algorithm.
公益社団法人精密工学会の論文
1992-04-05