Kinematic analysis of linkages based on finite elements and the geometric stiffness matrix. (English) Zbl 1156.70004
Summary: This paper presents a numerical approach to rigid body linkage kinematics, based on a reduced form of stiffness matrix and on structural analysis. This matrix may be referred to as geometric stiffness matrix, or simply as geometric matrix. It is derived from basic nodes and length constraints, and provides full information on kinematic properties of any linkage, including positions, velocities, accelerations, jerks and singular positions. This approach offers a number of major advantages, especially where simplicity and generality are concerned. The computational cost is also very low, because of the simplicity of numerical calculations and the reduced dimensions of the matrices involved.
MSC:
| 70B15 | Kinematics of mechanisms and robots |
| 70-08 | Computational methods for problems pertaining to mechanics of particles and systems |
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