Abstract
This paper addresses the issue as to whether the choice of a set of independent loops in a mechanism may reduce the chain, i.e., to ascertain if it is possible to find closure equations in hierarchical form. The selection of the shortest loops and the search for sinks are considered as possible strategies. Theoretical considerations and application examples demonstrate that these choices are useful in analyzing many technical mechanisms, but cannot in general ensure a chain reduction.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Hiller, M. et al., 1992, “Modelling and Simulation of Mobile Robots and Large Manipulators,” Proc. 3rd Int. Workshop Advances in Robot Kinematics ,Parenti-Castelli and Lenarcic, Eds., Felloni, Ferrara (I), pp. 27–36.
Galletti, C., 1986, “A Note on Modular Approaches to Planar Linkage Kinematic Analysis,” Mech. Mach, Theory,pp. 385–391.
Fanghella, P. and Galletti, C., 1990 “Kinematics of Robot Mechanisms with Actuating Closed Loops,” Int. J. Robotic Research ,pp. 19–24.
Kramer, G., 1992 Solving Geometric Constraint Systems ,MIT Press.
Chieng, W. H. and Hoeltzel, D. A., 1990 “Computer-Aided Kinematic Analysis of Planar Mechanisms Based on Symbolic Pattern Matching of Independent Loops,” ASME J. Mechani cal Design ,pp. 337–346.
Fanghella, P. and Galletti, C., 1992 “Hierarchical Generation of Independent Loops for Symbolic Kinematics of Robot. Mechanisms,” Proc. 3rd Int. Workshop Advances in Robot Kine matics ,Parenti-Castelli and Lenarcic, Eds., Felloni, Ferrara (I), pp. 96–103.
Kecskeméthy, A., 1993, “On Closed Form Solutions of Multiple-Loop Mechanisms,” Computa tional Kinematics ,J. Angeles et al., Eds., Kluwer Academic Publisher, pp. 263–274.
Fanghella, P. and Galletti, C., 1994, “Mobility Analysis of Single-Loop Kinematic Chains: an Algorithmic Approach Based on Displacement Groups,” Mech. Mach. Theory ,pp. 1187–1204.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1995 Springer Science+Business Media Dordrecht
About this paper
Cite this paper
Fanghella, P., Galletti, C. (1995). On the Choice of Independent Loops in Mechanism Kinematics. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_12
Download citation
DOI: https://doi.org/10.1007/978-94-011-0333-6_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-4147-8
Online ISBN: 978-94-011-0333-6
eBook Packages: Springer Book Archive