Computer-Aided Animation in Robot Kinematics
AUCASYN is an intelligent Automatic Computer Aided Synthesis program for mechanisms and machines developed at the University of Oulu, Finland. It includes type synthesis, number synthesis for the degree of freedom of mechnisms and machines, workspace definitions for robots and machines, a complete classification of 4-bar mechanisms and kinematic synthesis of 4-bar developed programs. The principles of volume modelling in robot kinematics using the DADS-3D (Dynamic Automation and Design System) -program with MSP,the Mechanical Simulation Package and the IRIS (Integrated Raster Imaging System) -program are used to preview the motions of robots on SUN and Silicon Graphics workstations. A robot can be analyzed by the DADS-3D analysis program using the following methods: kinematic analysis, dynamic analysis, static analysis, inverse dynamic analysis, assembly analysis and control/feedback analysis. Computer aided kinematic synthesis and analysis are integrated together.
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