Kinematic Analysis of Dual Elbow Mechanism Based on Product of Exponentials Formula

摘要

This paper introduces a method of kinematic analysis based on Product of Exponentials Formula(PFE).By using this method,kinematics analysis of dual elbow mechanism in die cutting machine is carried out and kinematic equations are built.This method has the advantages of less general variables,no local coordinate frames,clear physical significance.This method also can be used to solve the kinematics problems of other complex planar and spatial mechanisms.