Kinematic analysis of geared robotic mechanism using matroid and T-T graph methods

摘要

In this paper, the kinematic structure of the geared robotic mechanism (GRM)is investigated with the aid of two different methods which are based ondirected graphs and the methods are compared. One of the methods is MatroidMethod developed by Talpasanu and the other method is Tsai-Tokad (T-T) Graphmethod developed by Uyguroglu and Demirel. It is shown that the kinematicstructure of the geared robotic mechanism can be represented by directed graphsand angular velocity equations of the mechanisms can be systematically obtainedfrom the graphs. The advantages and disadvantages of both methods aredemonstrated relative to each other.