Abstract:
In this paper, a
new concept, I.e. Generalized Jacobian Matrix of MBS
(abbreviation for multibody system) is presented which unifies
three concepts of different realms; Partial (angular) velocity
in MBS, first order effect coefficient in mechanism, Jacobian
Matrix in robotics. This new concept not only enriches and
develops kinematics of MBS and makes kinematics theory of MBS
concise and being a formal way, but also becomes a new way to
kinematic analysis of spatial mechanisms. It is also enlarged
the paper that the usage of kinematics of MBS; the identical
relationship between kinematics of MBS and error analysis of MBS
is revealed.
Key words:
Kinematics of MBS Error analysis Configuration space
* This project is supported by the Foundation of the State Education
Commission and NSFC. Manuscript received on March 30, 1993
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