リー代数に基づく作業動作表現と拘束還元法による運動機構の概念設計

概要

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This paper presents a new method for kinematic synthesis of mechanisms from motion task specifications in a conceptual design. The motion task is classified into continuous path or positioning task. The former is the task that moves a mechanical part along a required path, and the latter is the task that puts the part in a particular position or orientation. The authors formulate them mathematically using Lie algebra and propose a method for generating an initial solution of the mechanism that can perform the specified motion tasks. From this solution, the constraint reduction procedure can reduce the redundant constraints such as joints to derive a minimum equivalent mechanism. By applying this mechanism to the synthesis procedure proposed in our previous report, a number of equivalent mechanisms can be derived. Finally, in order to evaluate the usefulness of the proposed method, it is applied to an example of kinematic design of mechanism.
2002-04-05