A Computer Implementation of the Position Solution of Planar Linkages Using Vector Loop Decomposition

1998 ◽  
Author(s):  
Clint A. Kahler ◽  
J. Keith Nisbett ◽  
Clement R. Goodin
Keyword(s):  
Closed Form ◽  
Computer Software ◽  
Computer Implementation ◽  
Software Application ◽  
Prismatic Joints ◽  
Position Solution ◽  
Planar Linkages ◽  
Form Approach ◽  
Independent Loops

Abstract A general closed-form approach to the solution of loop equations of planar n-bar linkages is presented. Each loop of a set of canonical independent loops is decomposed to a set of vectors. Several common combinations of revolute and prismatic joints are defined. By evaluating the types of joints at each end of a vector, the magnitude and direction of the vector are determined to be known constants or unknown variables. This leads to an identification of the number of unknowns and the distribution of unknowns in the loop. This identification allows the unknowns to be found by matching the situation to one of the unique, closed-form cases for a solvable loop. A computer software application has been developed and is analyzed for efficiency.

A Framework for Closed-Form Displacement Analysis of 10-Link 1-DOF Mechanisms

1998 ◽  
Author(s):  
A. K. Dhingra ◽  
A. N. Almadi ◽  
D. Kohli
Keyword(s):  
Closed Form ◽  
Input Output ◽  
Analysis Problem ◽  
Loop Closure ◽  
Displacement Analysis ◽  
Kinematic Chains ◽  
Solvable In Closed Form ◽  
Univariate Polynomial ◽  
Form Approach ◽  
Independent Loops

Abstract This paper presents a closed-form approach, based on the theory of resultants, to the displacement analysis problem of planar 10-link 1-DOF mechanisms. Since each 10-link mechanism has 4 independent loops, its displacement analysis problem can be written as a system of 4 reduced loop-closure equations in 4 unknowns. This system of 4 reduced loop closure equations, for all non-trivial mechanisms resulting from 230 10-link kinematic chains, can be classified into 22 distinct structures. Using the successive and repeated elimination procedures presented herein, it is shown how each of these structures can be reduced into a univariate polynomial devoid of any extraneous roots. This univariate polynomial corresponds to the input-output (I/O) polynomial of the mechanism. Based on the results presented, it can be seen that the displacement analysis problem for all 10-link 1-DOF mechanisms is completely solvable, in closed-form, devoid of any extraneous roots.

JURNAL PERANGKAT LUNAK KOMPUTER (SOFTWARE)

2020 ◽  
Author(s):  
Nadila Putri Ayu
Keyword(s):  
Operating System ◽  
Computer Software ◽  
Computer Users ◽  
System Software ◽  
Electronic Data ◽  
Application System ◽  
Software Application

Perangkat Lunak merupakan salah satu perangkat yang dibutuhkan dalam menjalankan komputer. Perangkat lunak adalah perangkat yang tidak dapat dilihat dan disentuh secara langsung, namun dapat dioperasikan oleh user atau penggunanya. Perangkat lunak komputer (software) merupakan sekumpulan data elektronik yang disimpan dan diatur oleh komputer, data elektronik yang disimpan oleh komputer itu dapat berupa program atau instruksi yang akan menjalankan suatu perintah. Perangkat lunak disebut juga sebagai penerjemah perintah-perintah yang dijalankan pengguna komputer untuk diteruskan atau diproses oleh perangkat keras. Melalui software atau perangkat lunak inilah suatu komputer dapat menjalankan suatu perintah. Secara garis besar software atau perangkat lunak dapat diklasifikasikan menjadi tiga bagian yaitu, perangkat lunak sistem operasi, perangkat lunak sistem aplikasi dan bahasa pemograman.Kata Kunci : Perangkat Lunak AbstractComputer software is one of the devices needed to run a computer. Software is a device that cannot be seen and touched directly, but can be done by the user or the user. Computer software (software) is a collection of electronic data collected and compiled by a computer, electronic data stored by a computer may consist of programs or directions that will execute an order. Software is also referred to as a translator of commands run by computer users to be forwarded or processed by the hardware. It is through this software or software that a computer can run a request. Broadly speaking, software or software can be divided into three parts, namely, operating system software, application system software and programming languages.Keywords: Computer software

PERANGKAT LUNAK KOMPUTER

2020 ◽  
Author(s):  
Adinda Ayu Fadhilah
Keyword(s):  
Operating System ◽  
Computer Program ◽  
Programming Languages ◽  
Computer Software ◽  
Computer Users ◽  
System Software ◽  
Application System ◽  
Software Application

Perangkat lunak komputer merupakan sebuah program komputer yang menjembatani pengguna komputer dan perangkat keras yang digunakannya. Dengan kata lain perangkat lunak merupakan penerjemah antara manusia sebagai orang yang memberi instruksi dan komputer sebagai pihak yang menerima instruksi. Perangkat lunak memang tidak tampak secara fisik dan tidak berwujud benda namun bisa untuk dioperasikan. Perangkat lunak secara garis besar software atau perangkat lunak dapat diklasifikasikan menjadi tiga bagian yaitu, perangkat lunak sistem operasi, perangkat lunak sistem aplikasi dan bahasa pemograman.Kata kunci : Perangkat Lunak KomputerAbstractComputer software is a computer program that bridges computer users and the hardware they use. In other words software is a translator between humans as the person who gives instructions and the computer as the party who receives instructions. The software does not appear physically and is not tangible but can be operated. Software outline software or software can be classified into three parts, namely, operating system software, application system software and programming languages.. Keywords: Computer Software

Mobility of Single-Loop N-Bar Linkage With Active/Passive Prismatic Joints

2005 ◽  
Vol 128 (6) ◽  
pp. 1261-1271 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du
Keyword(s):  
Open Loop ◽  
Class Iii ◽  
Active Joint ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Passive Joint ◽  
Offset Distance ◽  
Prismatic Joints ◽  
Planar Linkages

Single-loop N-bar linkages that contain one prismatic joint are common in engineering. This type of mechanism often requires complicated control and, hence, understanding its mobility is very important. This paper presents a systematic study on the mobility of this type of mechanism by introducing the concept of virtual link. It is found that this type of mechanism can be divided into three categories: Class I, Class II, and Class III. For each category, the slide reachable range is cut into different regions: Grashof region, non-Grashof region, and change-point region. In each region, the rotation range of the revolute joint or rotatability of the linkage can be determined based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. Furthermore, if the prismatic joint is an active joint, the revolvability of the input revolute joint is dependent in non-Grashof region but independent in other regions. If the prismatic joint is a passive joint, the revolvability of the input revolute joint is dependent on the offset distance of the prismatic joint. Two examples are given to demonstrate the presented method. The new method is able to cover all the cases of N-bar planar linkages with one or a set of adjoined prismatic joints. It can also be used to study N-bar open-loop planar robotic mechanisms.

Mass Flow and Derivative Moment of Inertia Flow in Planar (Geared) Linkages

1992 ◽  
Author(s):  
Zhonghe Ye ◽  
M. R. Smith
Keyword(s):  
Mass Flow ◽  
Kinematic Analysis ◽  
Moment Of Inertia ◽  
Force Balance ◽  
New Concepts ◽  
Prismatic Joints ◽  
Planar Linkages ◽  
First Time ◽  
Shaking Moment

Abstract The paper describes a method for the determination of the conditions for the complete shaking force and shaking moment balancing of planar linkages, including geared linkages, with revolute and prismatic joints. The conditions may be written down without the need for any kinematic analysis of the linkage by the application of two new concepts. These are the concept of mass flow for complete shaking force balance and the concept of derivative moment of inertia flow for complete shaking moment balance, the second of which is described here for the first time. A number of examples demonstrate the power of the method.

scholarly journals A Closed-Form Approach to Determine the Base Inertial Parameters of Complex Structured Robotic Systems

2015 ◽  
Vol 48 (1) ◽  
pp. 316-321 ◽  
Author(s):  
J. Klodmann ◽  
D. Lakatos ◽  
C. Ott ◽  
A. Albu-Schäffer
Keyword(s):  
Closed Form ◽  
Robotic Systems ◽  
Inertial Parameters ◽  
Base Inertial Parameters ◽  
Form Approach
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