Go to page
 

Bibliographic Metadata

Title
Higher-order constraints for higher kinematic pairs and their application to mobility and shakiness analysis of mechanisms
AuthorMüller, Andreas
Published in
Meccanica, 2017, Vol. 52, Issue 7, page 1669-1684
PublishedSpringer, 2017
LanguageEnglish
Document typeJournal Article
Keywords (EN)Higher kinematic pairs / Kinematic loops / Geometric constraints / Higher-order constraints / Mobility / Singularities / Shakiness / Screws / Lie groups
ISSN1572-9648
URNurn:nbn:at:at-ubl:3-1498 Persistent Identifier (URN)
DOI10.1007/s11012-016-0496-x 
Restriction-Information
 The work is publicly available
Files
Higher-order constraints for higher kinematic pairs and their application to mobility and shakiness analysis of mechanisms [0.81 mb]
Links
Reference
Classification
Abstract (English)

The mobility analysis of mechanisms rests on an adequate formulation of the constraints defining its configuration space (c-space). Whereas there is no general method for a global analysis, the higher-order mobility analysis, which locally approximates the c-space, is applicable to general mechanisms. It requires an efficient method for the evaluation of higher-order constraints, i.e. constraints on velocity, acceleration, jerk, etc. Such a method is known for linkages comprising lower pair joints only. In this paper a method for the efficient evaluation of higher-order constraints for mechanisms comprising higher pair joints is proposed. The method builds on the results for the lower pair linkages. It leads to a computationally simply recursive algorithm. This is applied to the mobility analysis that allows to determine the local finite mobility, to detect singularities, and to identify shaky mechanisms.

Stats
The PDF-Document has been downloaded 3 times.
License
CC-BY-License (4.0)Creative Commons Attribution 4.0 International License