Automatic generation of loop closing constraint equations for rotational joint

Erdős, Ferenc Gábor (2007) Automatic generation of loop closing constraint equations for rotational joint. In: IFToMM 2007. Proceedings of 12th world congress in mechanism and machine science. Besancon, 2007..

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Mechanism modeling with relative joint coordinates is very effective in terms of computational resources, since the minimal number of unknown variables are used. This technique is widely used in robotics, character animations and modeling linkages with tree topologies. In this article an algorithm is presented, which calculates the non-redundant loop closing constraint equations automatically. This method uses relative joint coordinates to describe the position and orientation of the open kinematic pairs by maintaining the transformation between the links. Mechanism having loops differs from open chain linkages, because in case of loop closing kinematic pair, some of the independent (open) joint coordinates becomes dependent ones. These depended joint coordinates are defined by the loop-closing constraint equations. The algorithm presented in this article calculates the topology dependent Degree of Freedom (DOF) of the loop-closing kinematic pairs, and generates the non-redundant loop-closing constraint equations. The application of the algorithm is demonstrated on the four-bar mechanism example.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: automated mechanism modeling, loop constraint equation,
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Research Laboratory on Engineering & Management Intelligence
Depositing User: Eszter Nagy
Date Deposited: 11 Dec 2012 15:29
Last Modified: 11 Dec 2012 15:29

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