Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms-Reference-Cited by-同舟云学术

Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms

Published:1999-10-01 Issue:3 Volume:123 Page:359-366
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Krovi Venkat¹,Ananthasuresh G. K.¹,Kumar Vijay¹

Affiliation:

1. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104-6315

Abstract

The dimensional synthesis of a spatial two revolute jointed dyad for path following tasks with applications to coupled serial chain mechanisms is presented. The precision point synthesis equations obtained using the rotation matrix approach form a rank-deficient linear system in the link-vector components. The nullspace of this rank-deficient linear system is derived analytically and interpreted geometrically. The nullspace vectors lead to the specification of additional constraints via the so-called auxiliary equations and to the solution of the linear system of equations. The geometry also allows the derivation of a closed form solution for the three design position problem. Finally, optimal path following by coupled R-R dyads is achieved by optimization over the free choice variables.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/123/3/359/5500221/359_1.pdf

Reference16 articles.

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2. Krovi, V., 1998, “Design and Virtual Prototyping of User-Customized Assistive Devices,” Ph.D. Dissertation, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, USA. (URL:http://www.cim.mcgill.ca/∼Venkat/publications.htm).

3. Bodduluri, R. M. C., Ge, Q. J., McCarthy, J. M., and Roth, B., 1994, “The Synthesis of Spatial Linkages,” Section 5.4 in Modern Kinematics: Developments in the Last Forty Years, Ed. A. G. Erdman, John Wiley & Sons, Inc., New York, pp. 159–164.

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