Design Propagation in Mechanical Systems : Kinematic Analysis

  title={Design Propagation in Mechanical Systems : Kinematic Analysis},
  author={H. L. Zou and Karim Abdel-Malek and J. Y. Wang}
A broadly applicable formulation for investigating design propagations in mechanisms is developed and illustrated. Analytical criteria in terms of the variations of joint position vectors and orientation matrices for planar and spatial mechanisms are presented. Mechanisms are represented using graph theory and closed loops are converted to a tree-like structure by cutting joints and introducing new constraints. The Jacobian matrix in Cartesian space is then transformed to Joint coordinates… CONTINUE READING
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