2A1-A11 Scilab/ScicosへのMotor代数の導入

概要

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Generally, by dividing translational motion and rotary motion of the rigid body into the different vector, the motion is analyzed. By describing the motion using the Motor algebra, translational motion and rotary motion can be expressed in one motor number. By using this algebra, the abstraction of the mathematical expression of rigid body in kinematic analysis rises. In this study, the Motor algebra is introduced in numerical calculation software Scilab/Scicos, and it makes on the link mechanism kinematic analysis. And, we propose the simple method for defining the connection of link and link. Using Scilab, the simulator which analyzed the motion of the link mechanism was constructed. Then, we adopted quick return mechanism as an example of the kinematic analysis, and its angular velocity and displacement were analyzed.
一般社団法人日本機械学会の論文