The Path Method for Analyzing Mobility and Constraint of Mechanisms and Assemblies

Structure and mechanism analysis often involves the use of advanced simulation programs, which are not always available to users. The Davies method has proven to be an efficient and easily applied tool in this type of analysis, allowing the obtaining of the stresses present in the links and the necessary torque to keep the device in optimal operative conditions. All these standards will set the foundations for the development and proper design of the mechanism. Taking into account the afore mentioned, this article describes in detail the use and applications of the Davies method for stress and kinematic analysis of a landing gear.

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“…Using the cut-set law [18][19][20], the algebraic sum of the normalized wrenches, Eqs. (6) and (7), that belong to the same cut (Fig.…”

Section: Case Studymentioning

confidence: 99%

Stress Analysis of a Landing Gear Using the Davies Method

Moreno

Peña

Gualdrón

2020

Period. Polytech. Mech. Eng.

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“…According to Shukla and Whitney [20], the reciprocal screws The independence between each limb constraint-screw system in Eqs. (12), (13) and (14) is evaluated.…”

Section: Mobility Analysismentioning

confidence: 99%

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Torre

Rodriguez-Leal

2016

International Journal of Advanced Robotic Systems

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This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector m h , which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

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“…Geometry constraints between two parts in an assembly may be arbitrary combinations. References [23][24][25] analyzed the state of a constraint of an assembly, mechanism, or fixture to see if it is properly constrained or whether it contains unwanted overconstraints. Rusli et al [26,27] addressed attachment-level design, in which decisions are made to establish the types, locations, and orientations of assembly features.…”

Section: Introductionmentioning

confidence: 99%

“…According to , if the screw representations between any two parts of the assembly model are known, we can easily analyze the model's kinematic functions. References [4][5][6][7][8][9][10][11][12][13][23][24][25][26][27][28][29] manually model the corresponding screw system. Thus, it is time consuming when the machine is large and complex.…”

Section: Introductionmentioning

confidence: 99%

Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory

Xiong

Chen

Ding

et al. 2016

Mathematical Problems in Engineering

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Reciprocal screw theory is used to recognize the kinematic joints of assemblies restricted by arbitrary combinations of geometry constraints. Kinematic analysis is common for reaching a satisfactory design. If a machine is large and the incidence of redesign frequent is high, then it becomes imperative to have fast analysis-redesign-reanalysis cycles. This work addresses this problem by providing recognition technology for converting a 3D assembly model into a kinematic joint model, which is represented by a graph of parts with kinematic joints among them. The three basic components of the geometric constraints are described in terms of wrench, and it is thus easy to model each common assembly constraint. At the same time, several different types of kinematic joints in practice are presented in terms of twist. For the reciprocal product of a twist and wrench, which is equal to zero, the geometry constraints can be converted into the corresponding kinematic joints as a result. To eliminate completely the redundant components of different geometry constraints that act upon the same part, the specific operation of a matrix space is applied. This ability is useful in supporting the kinematic design of properly constrained assemblies in CAD systems.

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The Path Method for Analyzing Mobility and Constraint of Mechanisms and Assemblies

Cited by 19 publications

References 11 publications

Stress Analysis of a Landing Gear Using the Davies Method

Stress Analysis of a Landing Gear Using the Davies Method

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory

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