Aufsatz
Derivation of Analytical, Closed‐form Formulas for the Calculations of Instantaneous Screw Axes of Arbitrary Rigid 3D Multi‐Body Systems
Abstract
A method to calculate the parameters for each instantaneous and relative instantaneous screw axis in an arbitrary rigid multi‐body system is presented. At first a kinematic analysis is performed which calculates the displacements of all nodes and the rotation of each body. In the next step the displacements of the nodes and the rotation of the bodies are used to calculate the instantaneous screw axis of each body. With the information on the instantaneous screw axes the instantaneous relative screw axes can be computed too. An example of the calculation and the visualization of the instantaneous screw axes is given.
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