Repesentation and analysis of mechanism by means of motor algebra and graph theory (5th report) -Error reduction by gap-pair method)-

摘要

A high accuracy algorithm for kinematic analysis of closed loop mechanisms using pair-axis motor and link-pair graph has been developed. This paper added to the algorithm an efficient procedure called Gap-Pair Method for reducing the augmented error through iterative integration. At any time when the error must be checked, the mechanism is reconstructed according to the computed value of relative angular displacement at each pairs beginning from the root link along the tree-path of link-pair graph.