Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation
Keyword(s):
This paper presents a general method for the analysis of any planar mechanism consisting of rigid links connected by revolute joints. The method combines a complex plane formulation [1] with the Dixon determinant procedure of Nielsen and Roth [2]. The result is simple to derive and implement, so in addition to providing numerical solutions, the approach facilitates analytical explorations. The procedure leads to a generalized eigenvalue problem of minimal size. Both input/output problems and the derivation of tracing curve equations are addressed, as is the extension of the method to treat slider joints.
2014 ◽
Vol 229
(12)
◽
pp. 2291-2302
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