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
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.