ゼブラ交差法による機構の自由度解析
Degrees of Freedom Analysis of Mechanisms using the New Zebra Crossing Method
機構をゼブラ交差状の図で表し、黒パッチ間の区分数・固定リンク接続関節数・ループ数から自由度を求める簡便なアルゴリズムを提案し、従来のKutzbach-Grubler式が破綻する事例も検討した。
著者: Rajashekhar V S, Debasish Ghose
分類: cs.RO
原文アブストラクト
Mobility, which is a basic property for a mechanism has to be analyzed to find the degrees of freedom. A quick method for calculation of degrees of freedom in a mechanism is proposed in this work. The mechanism is represented in a way that resembles a zebra crossing. An algorithm is proposed which is used to determine the mobility from the zebra crossing diagram. This algorithm takes into account the number of patches between the black patches, the number of joints attached to the fixed link and the number of loops in the mechanism. A number of cases have been discussed which fail to give the desired results using the widely used classical Kutzbach-Grubler formula.
