運動空間の異なるループを持つ機構の運動解析と運動方程式の導出 : 第1報, 理論的検討

概要

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Kinematic analysis and derivation of equations of motion of a mechanism with loops of different motion spaces are developed. First, it is shown that screw coordinates of a joint which expresses relative motion between two links must be expressed by the elements of a basis of motion spaces of the loop to which they belong. Then, it becomes possible to derive the same number of linear equations of joint velocities and accelerations for a loop as the dimension of its motion space and they can be determined by solving the linear equations. Next, it is described that the force analysis can be performed by expressing the joint wrench as a linear combination of elements of the basis of a motion space and other linearly independent screw coordinates. Using the theorem, the computational scheme for kinematic and force analysis is derived and the method to derive the equations of motion of a mechanism is also clarified.
2000-01-25