Mechanical networks—III Wrenches on circuit screws

Mobility of mechanisms: a critical review

“…The procedure leads to a constraint matrix formulation and the rank calculation and is applicable to any kinematic chain: it does not require special cases to be identified. Davies [38][39][40] used the procedure based on the constraint matrix to determine mobility, passivity and redundancy of mobile and immobile assemblies named mechanical networks.…”

“…During the XX century, sustained efforts were made to find general methods for the determination of the mobility of any rigid body mechanism. Various formulas and approaches were derived and presented in the literature by Koenigs [9], Grü bler [10,11], Malytsheff [12], Kutzbach [13], Dobrovolski [14,15], Artobolevski [16], Moroskine [17,18] Voinea and Atanasiu [19], Kolchin [20], Rö ssner [21], Boden [22], Manolescu and Manafu [23], Ozol [24], Hunt and Phillips [25], Waldron [26], Manolescu [27], Bagci [28], Antonescu [29,30], Freudenstein and Alizade [31], Hunt [32], Hervé [33,34], Baker [35,36], Gronowicz [37] , Davies [38][39][40], Agrawal and Rao [41,43], Angeles and Gosselin [44], Dudit ßȃ and Diaconescu [45], Fanghella and Galletti [46,47], Fayet [48][49][50] Tsai [51], McCarthy [52]. Contributions have continued to emerge in the last years: Huang et al [53], Rico and Rava...…”

Freedom and Constraint in Coupling Networks

“…Except for the change in notation, equation (16b) is reported in reference [7]. These formulae are most relevant to machinery wherein bearings of low freedom ( f ¼ 1) and high constraint (c ¼ 5) are the most frequently used couplings.…”

“…It is to find the magnitudes of all actions that could be present in terms of C N primary variables, where C N is the nett degree of constraint (doc) of the coupling network. Davies [7] uses a virtual power method for this purpose. Fayet [8,9] uses vectorial space theory in work that has had similar aims.…”

Otimização da Capacidade de Força Estática de Robôs Humanoides Usando Metaheurísticas Bio-Inspiradas

“…As componentes e , (representadas na Figura 2) advém do cálculo do equilíbrio estático do humanoide, o qual é realizado através do Método de Davies (Davies, 1983). Essa metodologia é adequada para este estudo, pois apresenta formalismo claro para resolução da análise estática de cadeias cinemáticas, facilidade de inclusão de ações externas adicionais e formulação matricial (Weihmann, 2011;Pierezan et al, 2012).…”