Computer Aided Methods for the Synthesis of Mechanism Kinematic Models: Planar and Spatial Cases
In the past few years, many works on computer-aided mechanism analysis and synthesis have appeared in the scientific literature. This is a complex and difficult subject which requires specific expertise, ranging from a good knowledge of mechanical hardware and the use of modeling techniques and computer programs. When the term ‘mechanism model ‘ is used, some ambiguity may arise. Model is, in fact, a word with different meanings depending on the context and environment in which it is used. For the purpose of mechanism analysis, we shall follow classical definitions (Cannon) of ‘physical model’ and ‘mathematical model’; moreover, we shall regard a ‘functional mathematical model’ as a set of differential and/or transcendental equations which give the position, velocity, acceleration, reactions, and internal forces of any mechanism part. In most applications, very simple physical models can be used for mechanism design: a model based on rigid links and kinematic pairs can often be accepted, and and we shall adopt it in this paper.
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