O'Reilly logo

Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by Ning Ma, Fulei Chu, Zhijing Feng, Jingshan Zhao

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Chapter 3

Twists and Wrenches of a Kinematic Chain

Abstract

How to complete the design with the simplest and economical structure arrangement have become key issues in the synthesis of kinematic chains. This chapter focuses on the equivalent substitution of kinematic chains in engineering applications. The screw system of kinematical chains is established through the screw description of the free motions of kinematic pairs; the terminal constraints of the kinematic chain are derived according to the reciprocal relationship between the kinematic screw and the constraint screw. The equivalent replacement and synthesis of kinematic chains under the same terminal constraint conditions are studied. This provides an innovation methodology for kinematic ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required