Abstract
Design and structure of machines and mechanisms are determined by the processes they perform. Therefore, it makes sense to consider the combined dynamics of both partners on the basis of the same rules, i.e. the machine has to follow the dynamics of the process and vice versa. A well-known example is the projection of arbitrary many robot degrees of freedom on a given path resulting in a set of nonlinear equations with one degree of freedom only, the path coordinate s. The resulting set allows to construct a mobility space Open image in new window for any combination of coordinates and constraints. For more general configurations with a multidimensional path system on the process side and any setup on the machine side, the corresponding projections lead to quadratic forms representing a multidimensional mobility space. The chapter presents a corresponding approach for machine and process configurations by applying multibody system theory. Practical aspects are discussed, and an example of an n-link robot is given.
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