The design of kinematic chains based on the principle of invariable terminal constraints
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Abstract
This paper presents a systematic method to analyze the design of kinematic chains based on the invariable principle of terminal constraints. According to the reciprocal screw theory, the terminal constraints of a kinematic chain are decided by the maximal independent set of the kinematic screws. Therefore, the optimum kinematic chain can be obtained through algebraic analysis with the given terminal constraints.
Keywords
Invariable principle of terminal constraint Kinematic chain Mechanism Screw theoryPreview
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