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3. ANALYTICAL KINEMATICS

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AME 352 ANALYTICAL KINEMATICS Nikravesh 3-1 3. ANALYTICAL KINEMATICS In planar mechanisms, kinematic analysis can be performed either analytically or graphically. In this course we first discuss ANALYTICAL kinematic analysis. ANALYTICAL KINEMATICS is based on projecting the vector loop equation(s) of a mechanism onto the axes of a non-moving Cartesian frame. This projection transforms a vector equation into two algebraic equations . Then, for a given value of the position (or orientation) of the input link, the algebraic equations are solved for the position/orientation of the remaining links.

Non-linear equations are difficult and time consuming to solve by hand. Numerical methods, such as Newton-Raphson, are recommended for solving non-linear algebraic equations. Ł The time derivative of position equations yields velocity …

  Linear, Solving, Equations, Linear equations

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