空間7Rリンク機構の運動特性解析 : 第1報,繰返し計算法による変位解析

抄録

A closed-loop equation of the general spatial 7-link 7R mechanism is derived using the dual number quaternion algebra for the line vectors of seven links and seven axes of rotation. The necessary and sufficient components for the displacement analysis are chosen from among twelve components of the closed-loop equation in the form of line vectors, and they are expressed in a recurrence formula for the purpose of numerical calculation. The functional relationship between the input and output angular displacement can be traced by solving the set of six component equations using Newton-Raphson's method in the case where the driving link rotates or oscillates.