Dynamic Analysis of Closed Loop Mechanisms on the Basis Vectors of Passive Joint Axes

摘要

By determining a basis of s linear space of twists of a loop in a mechanism by passive joint axes in the loop, the concise expressions among active joint torques and wrenches acting on links of a mechanism can be obtained. For the reason that the expressions are based on the basis vectors of joint axes of a mechanism, the algorithm is independent on types of mechanisms such as planar, spherical, spatial, etc. Also, the constraint conditions in loops can be dealt with separately for each loop. It makes the algorithm simple and can reduce the computational cost. By modifying the algorithm, simple expressions for parallel mechanisms can also be obtained.