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.
New Ideas to Study Kinematics and Dynamics of Planar Mechanisms
DI GREGORIO, Raffaele
2015
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
