A NEW EDUCATIONAL SOFTWARE FOR THE KINEMATIC ANALYSIS OF SPATIAL MECHANISMS

摘要

In this paper, a new educational computer program for the simulation of planar and spatial mechanisms is presented. This general-purpose kinematic software has been developed by the authors as a complement to the Machine Theory lectures. The preprocessor makes feasible to define the complex structure of spatial parallel manipulators in a user friendly way. As it is shown in the paper, the kinematic module obtains several kinematic entities useful for the advanced student to evaluate the performance characteristics of a mechanism. This allows a deep kinematic understanding of any modelled mechanism.