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New Ideas to Study Kinematics and Dynamics of Planar Mechanisms
並列摘要
Mechanisms with lower mobility can be studied by using tools that are directly deduced from those of spatial kinematics as screw theory. Nevertheless, ad-hoc tools that fully exploit the peculiarities of the displacement subgroups these mechanisms move in are usually more efficient both in showing mechanisms' features and when used to conceive numerical algorithms. Planar displacements constitute a three-dimensional subgroup with many peculiarities that allow the use of simplified tools (e.g., complex numbers) for studying planar mechanisms. Here, the systematic use of three-dimensional vector spaces to represent link poses and velocities in planar motion and planar system of forces is investigated. The result is a coherent set of tools that make it possible to geometrically describe kinematics and dynamics of planar mechanisms in the three-dimensional configuration space of links' planar poses.
被引用紀錄
延伸閱讀
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