配位空間における接触拘束表現を用いた組立品の機構モデル(第3報) : 接触拘束表現への時刻の導入

概要

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In order to check the kinematic performance of an assembly, a kinematic model of assembly using contact constraint representation in configuration space was proposed in previous paper. In this model, the region of motion without collision is derived in configuration space from the imposed contact constraint. However, it is difficult to represent the motion since time is not taken into consideration. The objective of the research described in this paper is to introduce time into this kinematic model. This is accomplished as follows : first, by introducing configuration-time space, an expansion of the contact constraint representation is proposed. Second, based on this representation, a method for deriving the region for the position and orientation of the components in an assembly is proposed.
公益社団法人精密工学会の論文
1998-11-05