Number Synthesis of Single-Loop Overconstrained Kinematics Chain
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概要
- 論文の詳細を見る
A most general form of the mobility equation is presented, which predicts the number of inputs required to drive a single loop mechanism having such geometrical constraints as passive freedoms and redundant freedoms. Passive rotational freedoms and redundant translational freedoms are described with use of spherical indicatrices and closure equations. Applying graph theory, a method of synthesizing single loop overconstrained mechanisms is given, which is illustrated through examples.
- 一般社団法人日本機械学会の論文
著者
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Ogawa Kiyoshi
Tokyo Institute of Technology
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OGAWA Kiyoshi
Musashi Institute of Technology
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SHIMOJIMA Hiroshi
Tokyo Institute of Technology
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SOGA Harumi
Ishikawajima-harima Heavy Insustry Co., Ltd.
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TORII Nobutoshi
Fuji-tsu Fanuc Co., Ltd.
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SOGA Harumi
Tokyo Institute of Technology
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Soga Harumi
Ishikawajima-harima Heavy Insustry Co. Ltd.
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Torii Nobutoshi
Fuji-tsu Fanuc Co. Ltd.
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