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Classification of Mobilities - New Insights on an Old Topic

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

The topic mobility of mechanisms has been studied for more than 150 years and there is still space to enhance its understanding. Davies’ Method integrates graph and screw theory to generate matrices that represent the mechanism statics and/or kinematics. These tools help create new definitions. This paper brings a literature review highlighting the relevance of the subject with respect to mechanism science. Davies’ Method is presented to set the basic knowledge for the developments proposed by this paper, focusing on the structures that define the kinematics of mechanisms and providing an alternative view for the mobility topic. Thus, it is possible to define, in a proper form, distinct types of mobility: Actuated, Passive, and Adjustment.

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Notes

  1. 1.

    In this paper, mobility and degree-of-freedom are used as synonyms and all the developments are valid for parallel mechanisms.

  2. 2.

    Subscripts r, s, t denote rotations around x, y, z axes and u, v, w denote translations along x, y, z axes, respectively [27].

  3. 3.

    IFTOMM stands for International Federation for the Promotion of Mechanism and Machine Science.

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Acknowledgements

This study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil (CAPES) and by the Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq).

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Authors and Affiliations

  1. Universidade Federal de Santa Catarina, R. Eng. Agronômico Andrei Cristian Ferreira s/n - Trindade, Florianópolis, SC, 88040-900, Brazil

    Thiago Hoeltgebaum, Luan Meneghini, Vinicius N. Artmann & Daniel Martins

Authors
  1. Thiago Hoeltgebaum
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  2. Luan Meneghini
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  3. Vinicius N. Artmann
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  4. Daniel Martins
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Correspondence to Thiago Hoeltgebaum .

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Editors and Affiliations

  1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  2. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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Hoeltgebaum, T., Meneghini, L., Artmann, V.N., Martins, D. (2022). Classification of Mobilities - New Insights on an Old Topic. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_32

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