OMTK: self-centering of kinematic body

	Unraveling Kinematic Couplings Kinematic couplings describe fixtures that precisely constrain a body with high reproduction accuracy. Popular embodiments are the so called Maxwel (2-2-2) and Kelvin (3-2-1) couplings but the structure can be described in more generic manners. While literature and papers discuss solutions, only a few provide practical insight. This webtool is developed to offer insight during the design process. It calculates the direction of friction on all six interfaces and determines the maximum friction coefficient at which all interfaces stay in contact. Be aware that the closing force may introduce an additional interface with friction.
	_{option to save the configuration and edit in xls}	_{option to load the configuration as csv-file, do not re-format!}	× Efficient Self-Centering Calculation for Kinematic Bodies Determining the self-centering behavior of a kinematic body may seem complex at first. In comparison to the method outlined by Slocum and Hale, used approach applies a more efficient method. This method involves the direct calculation of motion matrices of the body. Subsequently, we derive friction force directions from these matrices, which are utilized to formulate equations for the sum of forces and sum of moments. Solving these equations provides the friction forces and enables the calculation of the maximum friction coefficient. All interfaces accommodate both negative and positive perturbations, accounting for placement and for example adjustment effects. It is crucial to maintain loading on all interfaces to ensure the self-centering capability of the body. This principle forms the basis for calculating the hysteresis of the body. Additionally, considering that the closing force may not always be gravity, this method allows for the inclusion of friction forces at the force interfaces. For user convenience, a plot button is available, allowing users to visualize the configuration. The interactive plot supports zooming in and out. Users can also import a CSV file containing the configuration by first saving the standard configuration, editing the file, and then loading it to calculate the maximum allowed friction. Unlock precision and ease in self-centering body analysis with this advanced calculation tool. Use at own risk. Reality may differ from the model.


	input examples	Generic: 6-DOF	Maxwel: 120° 2-2-2	Kelvin: 3-2-1

Input the interface locations, interface normals and the stiffness

Input closing force locations, directions, magnitude and check when friction is present

Body hysteresis at maximum friction


	Forces on the interfaces when perturbing the interfaces at max allowed friction _{Negative forces are percieved as self-centering: pressing against the interface}