The Kinematics of Open Loop Manipulators using IMP (Integrated Mechanisms Program)

An existing general purpose mechanism analysis computer program, IMP (Integrated Mechanisms Program), has been modified to allow IMP to analyze open loop kinematic chains with much greater ease. Previously, IMP´s difficulties with these types of mechanisms were twofold. First, IMP´s solution strategy for iteratively closing the loops of a mechanism depended on the fact that each of the loops was closed. Second, IMP´s kinematic mode would analyze only one input at a time. Both of these aspects of IMP made IMP difficult to use as a tool for studying spatial open loop manipulators. A set of commands has now been added to IMP´s language that alleviates these problems. In addition an input strategy has been developed which makes it easier to input either path or joint data. This paper overviews IMP and presents the modifications to IMP as well as giving an illustrative example.