Twists and Wrenches of a Kinematic Chain
Abstract
How to complete the design with the simplest and economical structure arrangement have become key issues in the synthesis of kinematic chains. This chapter focuses on the equivalent substitution of kinematic chains in engineering applications. The screw system of kinematical chains is established through the screw description of the free motions of kinematic pairs; the terminal constraints of the kinematic chain are derived according to the reciprocal relationship between the kinematic screw and the constraint screw. The equivalent replacement and synthesis of kinematic chains under the same terminal constraint conditions are studied. This provides an innovation methodology for kinematic ...
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