Methods of Structural Analysis of the Mechanism of Robotic and Mechatronic Devices

Abstract

A new method for the structural analysis of the mechanisms of mechatronic devices and robots. The formulas for the analytical determination of the number of redundant and metric relations of extra mobility and links that occur in the contours of the mechanisms. Given conditional graphics kinematic pairs and degrees of freedom. Showing examples of structural analysis tools and methods for eliminating identified redundant links and extra mobility.

Keywords

• mechanism
• structural analysis
• redundant links
• extra mobility metric connection
• mobility
• degree of mobility