Distribution of Wrench-Twist Duality in Over-Constrained Mechanisms

Autor:	M. Fayet
Rok vydání:	2003
Předmět:	business.industry Mechanical Engineering Robotics Kinematics Topology Computer Graphics and Computer-Aided Design Graph Computer Science Applications law.invention Contact force Mechanics of Materials law Artificial intelligence Wrench Twist business Mathematics
Zdroj:	Journal of Mechanical Design. 125:81-91
ISSN:	1528-9001 1050-0472
DOI:	10.1115/1.1541629
Popis:	First, a procedure is presented in order to build the space of statically admissible wrenches. The matrix which generates them is obtained in an intrinsic way. It uses intersection of spaces for the edges (of the associated graph) and the new operation of “triangular projection” for the vertices. From this matrix, the choice of any set of indeterminable contact forces is achieved via a very simple test. This matrix allows to determine also all the possible degrees of freedom to add to the over-constrained mechanism in order to transform it into a non over-constrained one. Wrench-twist duality arises clearly in this last procedure.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::644d8b11f02f0deab5a8bfa099dcbbe4 https://doi.org/10.1115/1.1541629 Zobrazit plný text záznamu