Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains

Abstract

A spatial linkage is defined by a workpiece supported by one or more serial chains. We say that the spatial linkage can perform a given task when this task belongs to its workspace. A task can be specified as a discrete set of positions or as a set of curves or surfaces. Spatial serial chains can be synthesized to perform specified tasks, and combined to form more complicated linkages. Recently we developed Synthetica 1.0, a Java-based architecture for the computer-aided-design of spatial linkages that contains task definition and visualization, and linkage visualization, analysis and synthesis modules. In this paper, we present the new version, Synthetica 2.0. Among other additions, the new version includes task interpolation, a selection matrix, a generic synthesizer and several specialized synthesis procedures for constrained spatial linkages.