Kinematic analysis of mechanisms via a velocity equation based in a geometric matrix
作者： A. Hernández , O. Altuzarra , R. Avilés , V. Petuya
DOI: 10.1016/S0094-114X(03)00095-8
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摘要: In this paper, a geometrical approach is proposed to obtain velocity equation valid for planar and spatial linkages. This formed by so called geometric matrix, it can be found in general systematic way easily implemented computer software. procedure grants direct inference of kinematic property velocities linkages with the same topology identical link orientation. addition this, method instantaneous degree freedom mechanism any position via application matrix. also conveys series considerations on detection analysis singular configurations. An indicator proximity singularities vectors motion space are analyse type singularity.
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