Redundant Constraints in Mechanisms: an Overview via Linear Algebra

10.6567/IFToMM.14TH.WC.OS13.134

Andrea Piga Carboni；Henrique Simas；Daniel Martins

mobility ； overconstraint ； screw theory ； mechanism

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

428 - 436

英文

In mobility analysis of mechanisms, a relevant problem is how to determine the redundant constraints. Based on the mechanical network approach introduced by Davies, a methodology for identifying the components of the circuit actions is proposed. In this methodology the number of redundant constraints can be calculated as the number of free components of the circuit actions. Thus, the mobility of the mechanism can be obtained by simple applying the Modified Grübler-Kutzbach Criterion. Planar and spatial mechanisms are analysed with this methodology.