Distribution of Wrench-Twist Duality in Over-Constrained Mechanisms
2003; American Society of Mechanical Engineers; Volume: 125; Issue: 1 Linguagem: Inglês
10.1115/1.1541629
ISSN1528-9001
Autores Tópico(s)Mechanics and Biomechanics Studies
ResumoFirst, a procedure is presented in order to build the space of statically admissible wrenches. The matrix which generates them is obtained in an intrinsic way. It uses intersection of spaces for the edges (of the associated graph) and the new operation of “triangular projection” for the vertices. From this matrix, the choice of any set of indeterminable contact forces is achieved via a very simple test. This matrix allows to determine also all the possible degrees of freedom to add to the over-constrained mechanism in order to transform it into a non over-constrained one. Wrench-twist duality arises clearly in this last procedure.
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