CAD-2-SIM - Kinematic Modeling of Mechanisms Based on the Sheth-Uicker Convention
Editors: Honghai Liu, Sabina Jeschke, Daniel Schilberg
In Proceedings of the 4th International Conference, (ICIRA-11), 06.12.-08.12.2011, Aachen, Springer, volume Part I, pages 465-477, Dec/2011. ISBN: 978-3-642-25485-7.
This paper describes methods of kinematic modeling and of forward kinematics computation that are implemented in a new kinematic modeling software – named CAD-2-SIM – that transfers models of mechanisms from computer-aided design software to simulation. In particular, the software is based on a convention developed by Sheth and Uicker in 1971 that we call the two-frame convention, since it requires the definition of two specifically placed and named frames per joint. This convention simplifies the kinematic
specification of an arbitrary mechanism and enables computing its forward kinematics. The presented notation uses an indexing scheme based on graph theory.
Kinematic Modeling, Parallel Mechanisms, Graph Theory, Computer-Aided Design, Open Source Software