Kinematics of flat rod systems
Abstract
Kinematics of flat rod systems
Incoming article date: 01.08.2025The kinematic characteristics of rod systems are given in the order of kinematic analysis of the mechanism diagram, made taking into account the sizes and mutual arrangement of links and hinges; by analogy with the structural analysis of kinematic characteristics, they also include the degree of kinematic anomaly and the degree of kinematic irrationality. The first characteristic relates to the mutual arrangement of the axes of the links in the circuit chain and uses the dimensions of the links, the second relates to the mutual arrangement of the axes of the kinematic pairs (joints). It is shown that the mobility of kinematic chains depends on dimensional conditions - general and particular, and kinematic connections are imposed by dimensions. Based on the contour approach, a knowledge base has been formed for a highly formalized analysis of kinematic chains, allowing the identification of kinematic anomalies - both excess mobility due to a special position and kinematic redundant connections. It is shown that for flat kinematic chains the degree of irrationality of kinematics can be expressed through structural parameters.
Keywords: kinematics, characteristics, rod systems, analysis, diagrams, links, hinges, axes, anomaly, irrationality, connections, dimensional conditions