RESEARCH PAPERS: Mechanisms Papers

A New Matrix Method for the Kinematic Analysis and Motion Simulation of Planar Mechanisms With Lower Pairs

[+] Author and Article Information
P. D. Sparis, S. G. Mouroutsos

School of Engineering, Democritus University of Thrace, Xanthi, Greece

J. Mech., Trans., and Automation 106(4), 429-436 (Dec 01, 1984) (8 pages) doi:10.1115/1.3258590 History: Received July 12, 1984; Online November 19, 2009


This paper presents a new matrix method for the kinematic analysis and the determination of the velocities, accelerations and jerks for planar mechanisms incorporating rolling, sliding, and pivoting members with a single or multiple degrees of freedom. It also presents a motion simulation procedure that uses the results of the kinematic analysis to estimate the successive positions of the members during the cycle of operation of the mechanism, with third order accuracy in time. Due to the improved accuracy, the proposed motion simulation procedure presents minimal member distortion caused by the accumulation of numerical errors, and does not require iterations for its convergence.

Copyright © 1984 by ASME
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