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Advances on Theory and Practice of Robots and Manipulators pp 167–174Cite as

Numerical Detection of Inactive Joints

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Part of the Mechanisms and Machine Science book series (Mechan. Machine Science,volume 22)

Abstract

Inactive joints are the joints that cannot perform relative motion due to structural limitations in a mechanism. They are usually introduced in order to eliminate redundant constraints. A joint can be inactive in the whole range of the mechanism motion or only in selected configurations. A numerical method of detection of inactive joints is presented. The method is based on multibody system approach and utilizes the constraint Jacobian matrix. The ability to perform relative motion is investigated and inactivity of joints in both regular and singular configurations is discussed. A numerical example is provided.

Keywords

  • Inactive joints
  • Redundant constraints
  • Jacobian matrix

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Acknowledgments

This research was supported by the National Science Centre (Poland) grant no. DEC-2012/07/B/ST8/03993.

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Authors and Affiliations

  1. Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, Poland

    Marek Wojtyra

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  1. Marek Wojtyra
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Correspondence to Marek Wojtyra .

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Editors and Affiliations

  1. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

  2. Mechanical Engineering Research Institute, RAS, Moscow, Russia

    Victor A. Glazunov

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Wojtyra, M. (2014). Numerical Detection of Inactive Joints. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_19

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  • DOI: https://doi.org/10.1007/978-3-319-07058-2_19

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  • Publisher Name: Springer, Cham

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