AN ALGORITHM FOR THE KINEMATIC ANALYSIS AND OPTIMAL INPUT JOINT ASSIGNMENT OF RECURSIVE MECHANISMS

A multiloop mechanism is called recursive if its kinematic analysis ca n be reduced to the analysis of a recursive loop sequence, i.e. a sequ ence of loops with trivial, linear coupling between these loops. The k inematic analysis of multiloop mechanisms by symbolic or iterative met hods is simplified substantially if a (partial) recursive loop sequenc e is found. Recursiveness depends on the selection of input joints and frequently inputs are not preassigned but an assignment must be found such that a recursive loop sequence exists. The presented algorithm p rovides all possible input joint assignments and corresponding recursi ve loop sequences of arbitrary recursive mechanisms. The core of the a lgorithm is of linear complexity in the number of bodies plus joints. Through this efficiency an analysis of mechanisms with thousands of bo dies and joints becomes practically feasible. (C) 1998 Elsevier Scienc e Ltd. All rights reserved.