Kinematics behaviour of complex mechanisms with triads as a part of mechatronics system

Abstract

Kinematic group of third class can not be described in a standard way. This kinematic group can be brought down to several general cases. Each case is specific. Their application is met in many complex mechanisms as part of mechatronics system. For kinematical analysis several numerical and graphical methods are used. In this paper the method of fixed point for kinematical description of third class type RR-RT-TR will be used. This method differs from all the rest used up to now and can be done numerically by using computer or graphically. The basic idea of this method is decomposing the kinematic group of third class to the kinematic groups of second class. Then the Banach's principle of contraction is used. It belongs to a class of theorems of fixed point. The method is very efficient and gives very quick and accurate solutions concerning the position of complex mechanisms as a part of the mechatronics system, well as the velocities and accelerations too.