This paper presents a general formulation intended for path generation synthesis based on the derivation of kinematic constraint equations in their matrix form and their subsequent assembly in a system of linear equations. The procedure enables obtaining in a simple way the partial derivatives of the nodal coordinates of a mechanism with respect to the dimensional or input parameters. The main utility of this type of calculation is its application to gradient calculation within optimal dimensional synthesis, being valid for any planar mechanism composed of any number of elements connected by revolute joints (R), prismatic (P) or the combination R+P. The proposed approach has been implemented in general-purpose GUI software to solve path generation problems.
General Procedure for Path Generation Synthesis Based on Kinematic Constraints
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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