Constraint representation based on lie algebra in a kinematics model and synthesis of mechanisms

摘要

This paper deals with a new method for structural synthesis of mechanisms in a conceptual design as follows: first, using the Lie algebra-based representation of constraint on degrees of freedom, we propose an analysis procedure of the degrees of freedom between components in mechanisms of mechanical products. Second, this analysis procedure makes it possible to propose a structural synthesis procedure. Third, in order to select one of the mechanisms generated by the synthesis procedure, we introduce the concept of manipulatability as a criterion for the evaluation. Finally to evaluate the usefulness of the proposed method, it is applied to an example of structural synthesis.