Using a point-line-plane representation for unified simulation of planar and spherical mechanisms

This paper presents a geometric constraints driven approach to unified kinematic simulation of n-bar planar and spherical linkage mechanisms consisting of both revolute and prismatic joints. Generalized constraint equations using point, line and plane coordinates have been proposed which unify simulation of planar and spherical linkages and are demonstrably scalable to spatial mechanisms. As opposed to some of the existing approaches, which seek to derive loop-closure equations for each type of mechanism separately, we have shown that the simulation can be made simpler and more efficient by using unified version of the geometric constraints on joints and links. This is facilitated using homogeneous coordinates and constraints on geometric primitives, such as point, line, and plane. Furthermore, the approach enables simpler programming, real-time computation, and ability to handle any type of planar and spherical mechanism. This work facilitates creation of practical and intuitive design tools for mechanism designers.