DefinePK

Abstract

Center of rotation determination of a bar is important, since from this the rotational and translational movement of the bar can be defined. This movement will allow the dimensioning of the work or action space of certain mechanisms. In this sense, the use of Natural Coordinates is very helpful for this purpose, these coordinates are mostly Cartesian coordinates located in the kinematic pairs or in points of interest of the mechanism or links, where the main advantage of their use is that angular parameters and trigonometric functions can be disregarded, which facilitates the understanding of the modeling, in addition it is not necessary to use trigonometric functions. This technique uses the Arnold Kennedy theorem and the Screw theory, which allow to reduce the computational cost in a great way, optimizing problems where the rotation center has to be calculated many times. Taking these aspects into account, this article develops a case study in which this technique is applied to determine the center of rotation of a four-bar mechanism, which is fundamental for the optimal design of polycentric mechanisms and other applications.