Kinematic analysis of mechanisms using motor algebra and graph theory

摘要

The Kathri-Rao product of the circuit and pair-motor matrixes gives an exhaustive criterion of mechanism DOF. The pair-loop matrix with driving conditions determines relative angular velocities. Integration yields relative displacement angles,then transformed into a relative transformation matrix superposed on a tree path to determine absolute link and pair axis movement. We then show results of motion simulation including robot trajectory generation.