Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory

Michisuke Jo and Tomoyoshi Sasaki

Department of Systems Engineering, Faculty of Engineering, lbaraki University, 4-12-1 Nakanarusawa-cho, Hitachi-shi, 316-8511 Japan

Received:

May 6, 1998

Accepted:

August 6, 1998

Published:

December 20, 1998

Keywords:

Motor algebra, Link-pair graph, Kinemalic analysis, Closed loop, Pair-loop matrix, Robot trajectory generation

Abstract

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.

Cite this article as:

M. Jo and T. Sasaki, “Kinematic Analysis of Mechanisms Using Motor Algebra and Graph Theory,” J. Robot. Mechatron., Vol.10 No.6, pp. 464-474, 1998.

Data files:

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.