Automatic Closed-Form Kinematics-Solutions for Recursive Single-Loop Chains

Abstract

Abstract Described in this paper is a simplified method for the automatic detection and formulation of closed-form solutions for a special class of recursively solvable single-loop mechanisms. The objective is to generate a cascade of scalar equations from the closure condition of the loop, each containing exactly one unknown more than the predecessors, and each being maximally second-order in this unknown. In the proposed method this problem is reduced to the repeated determination of two subchains which are members of the isotropy group of either of the geometric elements point, line and plane and containing as much current unknowns as possible. The scalar equations then arise from unique projection operators applied to unique equation partitionings of the closure condition. This yields a general but easy-to-implement algorithm. The concepts are illustrated with some examples processed with an implementation in Mathematica based on the geometric elements point and plane.