Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory

Algorithm 1

Function twist space.

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