Algorithm for automatic generation of kinematic chains.
نویسندگان
چکیده
منابع مشابه
Chains of Kinematic Points
In formulating the stability problem for an infinite chain of cars, state space is traditionally taken to be the Hilbert space `, wherein the displacements of cars from their equilibria, or the velocities from their equilibria, are taken to be square summable. But this obliges the displacements or velocity perturbations of cars that are far down the chain to be vanishingly small and leads to an...
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Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human motion simulation and molecular dynamics. The computation can be further accelerated by employing parallel processing on multiple processors. In fact, parallel processing environment is becoming more affordable thanks to rec...
متن کاملInfinite chains of kinematic points
In formulating the stability problem for an infinite chain of cars, state space is traditionally taken to be the Hilbert space l2, wherein the displacements of cars from their equilibria, or the velocities from their equilibria, are taken to be square summable. But this obliges the displacements or velocity perturbations of cars that are far down the chain to be vanishingly small and leads to a...
متن کاملManipulability of Closed Kinematic Chains
This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by ...
متن کاملNew Notation for Serial Kinematic Chains
The description of a serial kinematic chain should be unique, unambiguous, simple to determine, easy to use and well-behaved when small changes are made in the arrangement of the elements of the chain. The notation currently in use, introduced by Denavit andHartenberg, does not satisfy all of these criteria. It involves arbitrary choices, so that more than one description may apply to a given k...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1987
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.53.1459