Beschreibung und Analyse raeumlicher kinematischer Strukturen

Abstract

Datastructures and algorithms of a new method for the description and analysis of spatial kinematic chains with variable topological structure are described in this thesis. The description of the kinematic structure is separated into geometric and topological quantities. Geometric quantities i.e. local coordinate systems on links, are described by means of the Sheth-Uicker notation. The topological structure is described by means of graph theoretical methods. This separation, makes it possible to develop algorithms, that based on elementary joint and link information automatically classify and orient the topological structure and calculate the transformation matrices of joints an links. The kinematic equations are also automatically deduced from this structure. The method distinguishes automatically both between open and closed and planar and spatial kinematic chains. A modification of the iterative method by Uicker, Denavit and Hartenberg has been developed for the calculation of position, velocity and angular velocity of local coordinate systems on links. The separation of geometry and topology and the automatic generation of kinematic equation makes the simulation of kinematic structures with variable topology, e.g. climbing or walking machines, feasible. The major part of these algorithms and datastructures was implemented in a prototype system and tested on a few examples. (orig.)Available from TIB Hannover: ZA 5141(5436) / FIZ - Fachinformationszzentrum Karlsruhe / TIB - Technische InformationsbibliothekSIGLEDEGerman