Kinematic chain refers to the mathematical model of a mechanical system as an assembly of rigid bodies connected by joints.[1] As in the familiar use of the word chain, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator.[2]
Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints.
The modern use of kinematic chains includes compliance that arises from flexure joints in precision mechanisms, link compliance in compliant mechanisms and micro-electro-mechanical systems, and cable compliance in cable robotic and tensegrity systems.[3] [4]
Analysis of kinematic chains
editThe constraint equations of a kinematic chain couple the range of movement allowed at each joint to the dimensions of the links in the chain, and form algebraic equations that are solved to determine the configuration of the chain associated with specific values of input parameters, called degrees of freedom.
The constraint equations for a kinematic chain are obtained using rigid transformations [Z] to characterize the relative movement allowed at each joint and separate rigid transformations [X] to define the dimensions of each link. In the case of a serial open chain, the result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link. A chain of n links connected in series has the the kinematic equations,
![{\displaystyle [T]=[Z_{1}][X_{1}][Z_{2}][X_{2}]\ldots [X_{n-x}][Z_{n}],\!}](https://wikimedia.org/api/rest_v1/media/math/render/svg/a128eff8d68685dc57b2d5d469130313d88eda8a)
where [T] is the transformation locating the end-link---notice that the chain includes a "zeroth" link consisting of the ground frame to which it is attached. These equations are called the forward kinematics equations of the serial chain.[5]
Kinematic chains of a wide range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are often called loop equations.
Synthesis of kinematic chains
editThe constraint equations of a kinematic chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. This is termed kinematic synthesis.[6]
Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, which is known as Burmester theory.[7] [8] [9] The approach has been generalized to the synthesis of spherical and spatial mechanisms.[10]
References
edit- ^ Reuleaux, F., 1876 The Kinematics of Machinery, (trans. and annotated by A. B. W. Kennedy), reprinted by Dover, New York (1963)
- ^ J. M. McCarthy and G. S. Soh, 2010, Geometric Design of Linkages, Springer, New York.
- ^ Larry L. Howell, 2001, Compliant mechanisms, John Wiley & Sons.
- ^ Alexander Slocum, 1992, Precision Machine Design, SME
- ^ J. M. McCarthy, 1990, Introduction to Theoretical Kinematics, MIT Press, Cambridge, MA.
- ^ R. S. Hartenberg and J. Denavit, 1964, Kinematic Synthesis of Linkages, McGraw-Hill, New York.
- ^ Suh, C. H., and Radcliffe, C. W., Kinematics and Mechanism Design, John Wiley and Sons, New York, 1978.
- ^ Sandor,G.N.,andErdman,A.G.,1984,AdvancedMechanismDesign:AnalysisandSynthesis, Vol. 2. Prentice-Hall, Englewood Cliffs, NJ.
- ^ Hunt, K. H., Kinematic Geometry of Mechanisms, Oxford Engineering Science Series, 1979
- ^ J. M. McCarthy and G. S. Soh, Geometric Design of Linkages, 2nd Edition, Springer 2010