KINEMATIC ANALYSIS OF MECHANISMS WITH ROLLING PAIRS USING MATRIX TRANSFORMATION METHOD

摘要

An efficient procedure is presented for the kinematic analysis of mechanisms with multiple Holonomic pairs. The matrix transformation method is used for modeling the high pair in the mechanism. Then, displacement constraints for two links in rolling contact are derived using the line integral of the link contour. Finally, the displacement constraints associated with the loop closure equations from the overall transformation matrix can be obtained as a set of simultaneous equations for the analysis of the mechanism. These equations can be solved via the numerical method. The procedure is also illustrated by an example with parabolic and circular link shapes.