Lastnosti indeksa gibljivosti pri odprtih kinematičnih verigah
Gotlih, Karl ; Troch, Inge ; Vohar, Bojan
Indeks gibljivosti je pomembno orodje na področju modeliranja in vodenja mehanizmov. Je skalarna veličina, ki kvantitativno vrednoti funkcionalnost mehanizma za opravljanje predpisanih nalog. Je ...torej neke vrste merilo učinkovitosti oz. zmogljivosti sistema in mora biti kot tak upoštevan že v sami fazi zasnove in razvoja mehanizmov in algoritmov vodenja mehanizmov. V prispevku je podan dokaz o neodvisnosti indeksa gibljivosti od prve prostostne stopnje mehanizma, kar je pomembna lastnost indeksa gibljivosti. Neodvisnost indeksa gibljivosti od prve prostostne stopnje mehanizma omogoča odličen vpogled v povezave med generaliziranimi notranjimi koordinatami sistema in indeksom in hkrati dokazuje, da je indeks gibljivosti odvisen samo od relativnih položajev ročic in geometrije mehanizma. V zaključku so lastnosti indeksa gibljivosti ilustrirane na dveh primerih odprtih kinematičnih verig.
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