Abstract
The concepts of twist generator, wrench generator and their counterparts, namely, twist annihilator and wrench annihilator are introduced in this paper. It is shown that twist annihilators allow the elimination of idle variables in the analysis of kinematic chains with multiple loops, thereby easing the formulation of the underlying kinematic relations. As examples of applications, the input-output velocity analysis of a four-bar spatial linkage and the Jacobians of a robotic mechanical system, pertaining either to a walking machine or a multi-fingered hand, are included. Furthermore, these concepts are extended in such a way that they find a straightforward application in the formulation of dynamics models of multi-body systems.
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© 1994 Springer Science+Business Media Dordrecht
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Angeles, J. (1994). On Twist and Wrench Generators and Annihilators. In: Seabra Pereira, M.F.O., Ambrósio, J.A.C. (eds) Computer-Aided Analysis of Rigid and Flexible Mechanical Systems. NATO ASI Series, vol 268. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1166-9_12
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DOI: https://doi.org/10.1007/978-94-011-1166-9_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-4508-7
Online ISBN: 978-94-011-1166-9
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