抄録
A multi-link system is defined as any finite number of rigid bodies interconnected by pairs with various constraints. Typical examples are the mechanisms in machines and limbs of humans. Recently, there is a need for parallel-mechanisms which have the advantages of maneuverability, lightness and stiffness. Many studies on them have been performed. Also, there are many studies on the motion control and motion analysis of living mechanisms. This paper describes an analytical approach to the kinematics and dynamics of a multi-link system using motor algebra. The redundant degrees of freedom arising from the analysis on the velocity motor, acceleration motor and force-moment motor are discussed. Throughout this paper, all the solutions of analysis are obtained by the linear calculation algorithms, such as QR decomposition, Gaussian elimination and backsubstitution. The data structure and the algorithms are based on linked lists.
