Research Article
Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory
BEGIN | FOR each part , which restrict A. | Convert all the geometry constraints between A and into basic components , . | Determine the wrenches , acting upon A through . We have m not less than l. | Collect all the wrenches into a matrix . | END FOR | Compute the orthogonal matrix in terms of by Gram-Schmidt orthogonalization [31]. | IF Rank() = 6 THEN | Return “IMMOBILE”. | ELSE | Compute the orthogonal complement matrix of . | END IF | . | END |
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