Simulation System of Design for Link Mechanism : 2nd Report, Kinematic Analysis for Mechanism

Abstract

A method for the analysis of displacement, velocity and acceleration of an arbitrary mechanism is presented by using kinematic loops proposed in the preceding paper (1st Report). Furthermore, the forces and torques acting on joints are analyzed numerically. The equations of motion are derived from the Newton-Euler method. The recurrence relations are introduced to reduce the computing time. The proposed method is applied to an industrial robot including the closed loop, and proves to be an analysis with a high accuracy.