Approximating Spatial Locations With Spherical Orientations for Spherical Mechanism Design-Reference-Cited by-同舟云学术

Approximating Spatial Locations With Spherical Orientations for Spherical Mechanism Design

Published:1998-07-01 Issue:4 Volume:122 Page:457-463
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Tse David M.¹,Larochelle Pierre M.¹

Affiliation:

1. Robotics and Spatial Systems Laboratory, Mechanical Engineering Program, Florida Institute of Technology, Melbourne, FL 32901

Abstract

In this paper we present a novel method for approximating a finite set of n spatial locations with n spherical orientations. This is accomplished by determining a design sphere and the associated orientations on this design sphere which are nearest the n spatial locations. The design sphere and the orientations on it are optimized such that the sum of the distances between each spatial location and its approximating spherical orientation is minimized. The result is a design sphere and n spherical orientations which best approximate a set of n spatial locations. In addition, we include a modification to the method which enables the designer to require that one of the n desired spatial locations be exactly preserved. This method for approximating spatial locations with spherical orientations is directly applicable to the synthesis of spherical mechanisms for motion generation. Here we demonstrate the utility of the method for motion generation task specification in spherical mechanism design. [S1050-0472(00)00204-X]

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/122/4/457/5687181/457_1.pdf

Reference21 articles.

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2. Larochelle, P. M., and McCarthy, J. M., 1995, “Planar Motion Synthesis Using an Approximate Bi-Invariant Metric,” ASME J. Mech. Des., 117, pp. 646–651.

3. Ruth, D. A., and McCarthy, J. M., 1997, “The Design of Spherical 4R Linkages for Four Specified Orientations,” Proceedings of the ASME Design Engineering Technical Conference.

4. Osborn, S. W., and Vance, J. M., 1995, “A Virtual Reality Environment for Synthesizing Spherical Four-Bar Mechanisms,” Proceedings of the ASME Design Engineering Technical Conferences, Vol. DE-83, pp. 885–892.

5. Larochelle, P. M., Vance, J. M., and McCarthy, J. M., 1998, “Creating a Virtual Reality Environment for Spherical Mechanism Design,” Proceedings of the NSF Design and Manufacturing Grantees Conference, pp. 83–84.

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