Implementation of Recursive Algorithms for Serial Linkages

Hansford, Tomas (2007). Implementation of Recursive Algorithms for Serial Linkages B.Sc Thesis, School of Engineering, The University of Queensland.

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Author Hansford, Tomas
Thesis Title Implementation of Recursive Algorithms for Serial Linkages
School, Centre or Institute School of Engineering
Institution The University of Queensland
Publication date 2007
Thesis type B.Sc Thesis
Supervisor Ross McAree
Total pages 78
Language eng
Subjects 0913 Mechanical Engineering
Formatted abstract
For decades, the problem of solving the dynamics of mechanisms has been investigated by many researchers. This is because knowing the dynamics of mechanisms is required in order to implement control and analysis systems on these mechanisms. Recently, Nick Hillier has developed detailed algorithms that have the potential to solve for the dynamics of linkages for real time applications; although, to date these algorithms have not been implemented in a way so that they can be used in real time applications.

Hillier (2006) wrote several algorithms deal with machines made of serial linkages and closed loop linkages. The purpose of this thesis is to implement the algorithms written for serial linkages in C++ and to evaluate whether this implementation is suitable for use in real time applications. Another aspect of this thesis is to develop the code using an object-orientated approach so that the code is easy to use and so that all of its components are reusable.

Hillier’s algorithms for serial linkages have two purposes: to calculate the forward dynamics of a system and to linearise the dynamics into a state-space form so that it can be used by control applications such as a Kalman filter. Both aspects of these algorithms have been successfully implemented and thoroughly tested using systems made of one, two and six bodies.

The program has been developed using a range of objects that effectively abstract the workings of the algorithm from the user and have all been proven to be self-sufficient.

Therefore, the program is easy to use and all aspects of the code can be transplanted into larger programs.

A downside of the implementation is that it has been proven not to be suitable for real-time applications. The speed of the algorithm has been testing on a standard computer and has shown to require approximately 0.17 seconds per time-step when integrating the forward dynamics of a system comprised of six linkages. Programs need to work in the order of 0.04 seconds per time-step to be suitable for real-time applications. Note however, it requires slightly less time for system with fewer linkages and if a system has only one or two linkages it can be used in real time applications.
Keyword Mechanism

Document type: Thesis
Collection: UQ Theses (non-RHD) - UQ staff and students only
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Created: Fri, 19 Sep 2014, 15:04:58 EST by Ahmed Taha Siddiqui on behalf of Scholarly Communication and Digitisation Service