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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.

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References

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Authors and Affiliations

  1. Department of Precision Instruments, Tsinghua University, Beijing, 100084, P.R. China

    Jing-Shan Zhao, Zhi-Jing Feng & Kai Zhou

  2. Department of Mechanics, Tsinghua University, Beijing, 100084, P.R. China

    Yun-Feng Gao

Authors
  1. Jing-Shan Zhao
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  2. Zhi-Jing Feng
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  3. Kai Zhou
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  4. Yun-Feng Gao
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Correspondence to Jing-Shan Zhao.

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Zhao, JS., Feng, ZJ., Zhou, K. et al. The design of kinematic chains based on the principle of invariable terminal constraints. Int J Adv Manuf Technol 26, 138–143 (2005). https://doi.org/10.1007/s00170-003-1967-5

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  • DOI: https://doi.org/10.1007/s00170-003-1967-5

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