Classical Modules Applied to the Mechanisms Structural Analysis and Synthesis

Abstract

The paper brings into attention traditional models used for the structural analysis and synthesis in the classical theory of mechanisms. In this theory founded by the Russian school the mechanisms construction principle is the basis of the mechanisms structure. This may be usually applied to establish or to analyze mono-mobile mechanisms. The new mechanical solutions in robotics for arm robots or legs for mobile robots require mechanisms with two or three degrees of mobility their structures including active kinematic pairs non-connected at the basis. The numerical structural analysis of mechanisms and their sub-systems allows describing codes for their selecting on computers.