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Research Fellow/
Department of Mechanical Engineering,
Northwestern University, Evanston, III.
Student Mem. ASME
J. D E N A V I T
Associate Professor of
Mechanical Engineering,
Northwestern University, Evanston, III.
Mem. ASME
R. S. H A R T E N B E R G
Professor of Mechanical Engineering,
Northwestern University, Evanston, III.
Mem. ASME
Formulation of Problem
Since this paper uses notations described in earlier publications
[1, 2], some of the fundamental concepts involved will first be reviewed.
In any simple-closed chain of binary links, the Gruebler criterion requires that, for constrained motion, the sum of the degrees of freedom of the individual joints be equal to seven. Even
with the exceptions produced by redundant constraints, this
1 Numbers in brackets designate References at end of paper.
Contributed by the Applied Mechanics Division and presented
at the Winter Annual Meeting, Philadelphia, Pa., November 17-22,
1 9 6 3 , o f T H E A M E R I C A N S O C I E T Y OP M E C H A N I C A L E N G I N E E R S .
Discussion of this paper should be addressed to the Editorial Department, ASME, United Engineering Center, 345 East 47th Street,
New York, N. Y. 10017, and will be accepted until July 10, 1964.
Discussion received after the closing date will be returned. Manuscript received by ASME Applied Mechanics Division, March 14,
1963. Paper No." 63WA-45.
(1)
JUNE
1 9 6 4
3 0 9
Z4.
equations ( 3 ) and ( 4 ) 2 :
Ri
2.0
30
R2
0i
0
Ri
4.0
3.0
55
PZ
0
02
0
s3
45
0
0
0
RI
DI
p5
5.0
2.0
2.0
5.0
270
270
90
Ri
R,
02
0
03
0
Ri
60
Pi
Ri
04
0
= 1
(3)
Si
Ss
270
0i
0
5.0
2.0
90
05
0
i?o
2.0
90
06
0
Fig. 2
3C, R m e c h a n i s m
1
Ai
a,- cos 0;
cos (
sin di sin a (
sin 6i
sin
Si
sin d i
(5)
cos Oti
1 coordi-
This m a y b e
(6)
Bricard m e c h a n i s m
Displacement curves o f t h e m e c h a n i s m
a2
D,
P2
Sl
02
So
di
..
<
.Ri 0;
...Rn
a
a
0
(2)
J U N E
19 6 4
^ + ddi,
i = 2, 3, . . ., n
(7)
310 /
F o r the d e v e l o p m e n t of this iteration process it will be necessary to m a k e s o m e initial estimates of the values of the unknowns. T h e y m a y then b e expressed as
A^dMtidi
dd2) . . . A(d
+ ddn) = I
(8)
Transactions of the A S M E
Mb
+ ddi)
1
a,- cos (i + d6()
a, sin (6i + dd^
0
cos (i + ddi)
sin (Si + ddi)
0
0
sin (di + ddi) cos f ;
cos (di + ddi) cos oii
sin a t
0
sin (d_; + ddi) sin a,- c o s ( 0 i + ddi) sin a,cos a,-
0 _
i
sin di
0
Bx
0
sin 9j sin a (
cos di sin a,cos a ;
0
-a,- sin 0;
a,- cos di
0
B , =
0
-cos di cos a,-sin di cos at
0
0
-sin
cos di
0
<
,=eii
d d i
(ID
= QeA i
ddi
0
-1
0
0
0
0
0
0
0
Bi 21
Bi 31
Bm
0
Bin
Bi32
Bm
...(/
(18a)
. . A-iA)d0i
(10)
0
Bi-n
Bi3i
B (44
ddi
(2 ^
i ^ 7)
(186)
Bi
(19)
= X)
t=2
0
E 21
EN
J?41
(20 a)
<
0
E22
E32
EI 2
E =1
QeddMi
0
E23
E33
EA3
0
E24
E 34
EU
(206)
(21)
Bi
(14)
(15)
+ Qedd3)A3 . . .
+ Qgd0i)Ai...(/
+ Qod0n)An
(176)
. . . li-iQeAt.
0
Bi23
Bi3z
BM
0
Bl24
"124
D
Bm
B144
0
B\
23
"123
r>33
Bi
B143
(13)
+ QgAiddi
S ( /
0
B122
"122
r>
B132
Bia
(17a)
(12)
..An
E
0
0
1
0
A,A2A3
1
B121
"121
BBm
B141
(AIA2
(9)
0
-sin di cos a (
cos i cos a,sin ai
COS
Si
. . .
An-iQoA)dd
= I -
(A1A2A3
. . . An)
(16)
JUNE
1 9 6 4
3 1 1
En =
En S
Bm,
-B
E = QJh
Qua
li
E-23
E33
Ea
22
En
En
1 -
eJ)
B12 -2
Bu,
Bu,
! -
1 -
B123
Bm
B, 43
7i124
Bm
1 >144
-
(23)
The matrix eciuation of approximation will be completely
satisfied if and only if both of these conditions are satisfied. The
first condition gives explicitly three of the required equations.
The three equations representing the rotational information must
now be extracted from the second condition, equation (23).
The (3 X 3) submatrices of equation (23), henceforth called the
Bubmatrices of rotation, have several interesting properties.
Thus, the submatrices of rotation of A< are orthogonal, i.e., for
any A , the transpose and the inverse are identical. This can be
seen by comparing equations (24) and (5).
1
A . R
C O S di
-at
Si sin otj sin di cos
Si cos a ;
sin 6i sin a.-
sin di
cos i cos a i
cos di sin a ,
Since the first column does not affect the submatrices in any
product of the form A,Aj+i . . . A l: , the submatrix in a product of
this type will also be orthogonal. The matrix B1 therefore is
orthogonal with respect to its submatrix of rotation.
Also, by the definition of an antisymmetric matrix
and
Qu
(25)
= 0
(26)
(27)
. . . Ai iQo^i A-iA)cW<
The insertion of a factor equal to the unit matrix -nail not affect
this equality
I =
(AiAi,
Bi =
(AiA2 ,
Ai-i)-\A,A,_
A>-i)Qe\{AiA2
/Tr-,)
.
Ai^KAiA,
I H ) ]
(28)
(Ai..
Bi =
(AiA,
. . . Ii-i)Qe(AiA.,
An-iA,t)ddi
. . . A^)-'Biddi
(29)
(AiA,
. . . Ai-i-)Qo(AiA2
. . .
Ai-i)'B,a
(30)
It is not claimed that this equality holds true for all elements, but
only with respect to the submatrices of rotation.
Since (A1A2 . . . Ai-i) is a nonsingular matrix, the theorem on
antisymmetric matrices can now be applied. The matrices, Bit
and also their weighted sum, E, can thus be seen to be the
312
J U N E
19 6 4
Qm
\Bm
7?I23
Bm
Bu 3
j,32
\B 142
By.
Bi:
Bi:
(32)
This is a very important step and is the vital link in the isolation
of the three rotational equations.
Setting this reconstructed ^-matrix into equation (21) yields
the following eciuation:
0
E21
Q132B132
Ql42-7?142
<2l327?133
Q112B143
$132-^134
Q142B141
En
Q132B122
Q143B112
Q132B123
Q143B1M
Q132B124
Q143B1U
En
Q112B122
+ Q143B132
Q142B122
+ Q143B133
Ql427?124
+ Q143B134
0
-121
B131
Bm
0
1 - B122
B13,
- Bl42
0
B123
1 B133
Bus
0
- Bl24
- Bl3i
1 - Bu,
(33)
sin a j
>
cos OCi
(24)
Qik = ~Qtj
-Qi-Qu
0
-Qn-2
0
(22)
(31)
Q143B142
Ql42Sl23
Q143B133
B132
Bm
(34)
~ Bli3
Bi
1
0
0
0
0
B122
0
0
0
B123
B133
0
0
Bl2l
B134
Bm
(35)
and
v,- v, = 1
(36)
or
Bm
(37)
Transactions of the A S M E
Bi =
1
0
0
0
0
1
0
0
0
0
0
1
0
0
1
0
(38)
B 321 .
B33) .
Bin .
B322 .
B332 .
B342
^333
B343 .
B244
B344
dd2
dd3
B,,
B ,1
Bn 41
B,2
- Bm
- Bl31
-
.41
Bin
B132
- #142
1 B133
Bia
1 Biu
1
=
En42
B 33
Bn 43
Bna
dd
(39)
(40)
M'V
(41)
(42)
Extension of Results
If, as indicated in the example, Fig. 2, the translational freedoms of a mechanism are described by prismatic pairs, it will be
necessary to extend the foregoing derivation.
3
Atei)/U(0s
+ dd2) . . .
(43)
On defining M as the foregoing [(9) X (n 1)] matrix of coefficients Bijh D as the column matrix or vector of the unknowns
ddi, and V as the column matrix of constants B\jk, equation (39)
may be expressed as
MD = V
+ ds() S Ai
dAjisi)
bSi
dSi
(44)
SI =
(45)
QJi
Qs
0
1
0
0
0
0
0
0
0
0
0
0
0
0
(46
(47)
The only effect which the prismatic pair has on the matrix
equation of approximation, therefore, is to change the definition of
the corresponding term, the B,-matrix for that pair:
Bi =
(AiI2
li-iQji
. . . AJdst
(48)
Numerical Results
T o test the feasibility of this method of analysis, a digital computer program was written by the authors for use on an I B M 709
digital computer [4]. The program was tested on a wide variety
JUNE
1 9 6 4
3 1 3
Table 1
Iteration
1st
2nd
de2 ( d e g )
dsz ( i n . )
d6i ( d e g )
dss (in.)
de 6 ( d e g )
ds7 ( i n . )
-5.15
0.0012
0.302
-0.863
-5.56
-0.0645
-0.163
-0.112
0.255
0.170
-0.236
-0.151
150
<
1ZJ
D.
t
v\
\ \
\ \
120
\ \
\
\
\
\
\
\
/
/
30
V \5 7
60
-1.5 H
/
/
J>
Q.
-2.0 113
O
/
/
120
180
240
300
INPUT ANGLE, 9, - DEGREES
Fig. 5
Conclusions
T h e foregoing method has been derived in a general w a y and is
applicable t o a wide variety of problems. Its t w o disadvantages
are that it requires initial estimates for the values of the variables,
and that the iteration process will n o t converge at a deadpoint of
the mechanism's operation. T h e initial estimates usually d o n o t
raise m a j o r difficulties since t h e y d o n o t require m u c h accuracy.
JUNE
300
1 9 6 4
Ii
1
1
/S
240
1
<D
N!
S6
180
UJ
CE
O
U1
O
L - -
1
1
1
1
1
1
-e<
120
1
1
1
1
1
1
60
1
1
30
INPUT ANGLE,
/
//
360
314
360
CO
111
:n
0
0.0 z
-0.5 z*
0
H
<
-1.0 _i
z
0.000001600
0.000000094
0.000000516
-0.000000173
0.000000066
0.000000111
'rtfl
\
\
/ /
/
/
60
\
/
\
/
\y /
4th
3rd
0.000596
0.000740
-0.000569
-0.000748
0.000537
0.000796
0-5
180
o
z
Convergence
Fig. 6
120
90
e,
DEGREES
Acknowledgments
This investigation was supported b y the N a t i o n a l
Science
References
1 J. Denavit and R . S. Hartenberg, " A Kinematic Notation for
Lower Pair Mechanisms Based on Matrices," JOUBNAL OP APPLIED
MECHANICS, v o l . 2 2 , TBANS. A S M E , v o l . 77, 1955, p . 2 1 5 - 2 2 1 .
2 J. Denavit, "Description and Displacement Analysis of Mechanisms Based on ( 2 X 2 ) Dual Matrices," P h D Dissertation, Northwestern University, Evanston, 111., June, 1956.
3 G. A. Korn and T . M . ICorn, Mathematical Handbook for Scientists and Engineers, McGraw-Hill Book Company, Inc., New York,
N . Y . , 1961.
4 J. J. Uicker, Jr., "Displacement Analysis of Spatial Mechanisms
by an Iterative Method Based on 4 X 4 Matrices," M S Thesis,
Northwestern University, Evanston, 111., June, 1963.
5 K . S. Kunz, Numerical Analysis, McGraw-Hill Book Company,
Inc., New York, N . Y 1957.
6 L . S. Marks, Mechanical Engineers' Handbook, McGraw-Hill
Book Company, Inc., New York, N . Y., 1941.
7 J. E. Shigley, Kinematic Analysis of Mechanisms, McGraw-Hill
Book Company, Inc., New York, N. Y., 1959.
8 C, R . Wylie, Jr., Advanced Engineering Mathematics, McGrawHill Book Company, Inc., New York, N . Y 1951.
9 H. Goldstein, Classical Mechanics, Addison-Wesley Publishing
Company, Cambridge, Mass., 1950.
Transactions of the A S M E