Analysis of Complex Kinematic Chains With Influence Coefficients

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Abstract
Highly complex kinematic chains such as Fig. 1(c) can be analyzed by the use of simple vector equations involving influence coefficients. The influence-coefficient equations are related to superposition of simple kinematic chains. The technique for determining the necessary influence coefficients is one of sequentially setting all variables but one to zero and relaxing appropriate constraints to maintain mobility. This “zero-relax” process creates a series of mechanisms each simple enough to be solved by a direct process rather than by simultaneous equations. The analysis of the velocities and accelerations for these simpler mechanisms yields the influence coefficients of the related but more highly complex mechanism.

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