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

Abstract

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.

Furniture Folding Methodology For Reconfigurable Aircraft Cabins

“…"The resultant motion in operating a mechanism is largely determined by the kinematic joints connecting the members of the mechanism [63]." There are six type of kinematic joints: Revolute joint(R), Prismatic joint(P), Helical joint(H), Cylindrical joint(C), Spherical joint(S), and Planar joint(E) [64]- [67]. Depending on the type and combination, kinematic joints allow translational motion, along the three Cartesian axes, and rotational motion, along three rotational axes.…”

Furniture Folding Methodology For Reconfigurable Aircraft Cabins

“…"The resultant motion in operating a mechanism is largely determined by the kinematic joints connecting the members of the mechanism [63]." There are six type of kinematic joints: Revolute joint(R), Prismatic joint(P), Helical joint(H), Cylindrical joint(C), Spherical joint(S), and Planar joint(E) [64]- [67]. Depending on the type and combination, kinematic joints allow translational motion, along the three Cartesian axes, and rotational motion, along three rotational axes.…”

Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws

“…Para el caso de los robots 3RRR, Chen et al (2015) presentan la cinemática directa y la matriz jacobiana basada en teoría de screws obteniendo un modelo simple que describe las carácterísticas relevantes y puede extenderse al modelo dinámico, incluyendo las relaciones entre las variables de las juntas actuadas, y las variables del efector final. Otras alternativas importantes para la obtención de modelos cinemáticos se presentan en Wu and Carricato (2017), Liping et al (2016), Wu et al (2015) y Xiong et al (2016) donde se obtiene la cinemática de varios robots paralelos. Partiendo de los modelos cinemáticos de Cardona (2009), Cardona (2015) se formula un modelo dinámico compacto basado en la formulación de Euler Lagrange considerando, por medio de los jacobianos, las relaciones entre las variables de las juntas actuadas y las variable del actuador final.…”