Development of a Computational Tool for Static Analysis with Screw Theory
نویسندگان
چکیده
Abstract. This paper treats the development of a software module for static analysis for any mechanism. The module was developed as an addition to a framework for kinematic analysis created by Raul Guenther Laboratory of Robotics of Federal University of Santa Catarina. The expanded framework can determine the static analysis of a moving mechanism, being possible to include external forces such as gravitational forces of each link and environmental contact. The created module realizes the analysis based on screw theory, graph theory and Assur’s virtual chains to determine the static model of a mechanism. In order to illustrate the use of the proposed module, a didactic example are developed to validate it and a static model of a spatial parallel robot with three degrees of freedom is solved.
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