Affiliation:
1. Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montre´al, Que´bec, Canada
Abstract
The concept of generalized coupler curves of linkages is introduced in this paper. Using this concept, the study of path generation and rigid-body guidance can be done within the same framework for analysis, synthesis and optimization of linkages. Moreover, a unified method of performance evaluation for rigid-body guidance is presented, that is applicable to four-bar linkages of any type, as long as the linkages have quadratic input-output or input-coupler functions. The method is an extension of the performance-evaluation method for path generation introduced in a previous paper. That method is based on the usual coupler curves, and hence, is only applicable to path-generation problems. The present method is based on generalized coupler curves, and is, thus, applicable to the problems of both path-generation and rigid-body guidance. It is oriented towards the iterative optimization of rigid-body-guidance tasks with four-bar linkages, and hence, considers numerical complexity as a determining issue. Numerical examples in which the method is applied to a planar four-bar linkage and a spherical four-bar linkage are included.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献