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RISPolar Decomposition of Unit Dual Quaternions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper seeks to extend the notion of polar decomposition (PD) from matrix algebra to dualquaternion algebra. The goal is to obtain a simple, efficient and explicit method for determining the PD of spatial displacements ...
A Fourier Descriptor-Based Approach to Design Space Decomposition for Planar Motion Approximation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In an earlier work, we have combined a curve fitting scheme with a type of shape descriptor, Fourier descriptor (FD), to develop a unified method to the synthesis of planar four-bar linkages for generation of both open and ...
MotionGen: Interactive Design and Editing of Planar Four-Bar Motions for Generating Pose and Geometric Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we have presented a unified framework for generating planar four-bar motions for a combination of poses and practical geometric constraints and its implementation in MotionGen app for Apple's iOS and Google's ...
A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of spatial linkage synthesis for motion generation from the perspective of extracting geometric constraints from a set of specified spatial displacements. In previous work, we have developed ...
Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: It has been well established that kinematic mapping theory could be applied to mechanism synthesis, where discrete motion approximation problem could be converted to a surface fitting problem for a group of discrete points ...
A Task Driven Unified Synthesis of Planar Four Bar and Six Bar Linkages With R and P Joints for Five Position Realization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper deals with the problem of integrated joint type and dimensional synthesis of planar fourbar and sixbar linkages, which could contain both revolute (R) and prismatic (P) joints, for guiding through five specified ...
Kinematic Acquisition of Geometric Constraints for Task Oriented Design of Planar Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A motion task can be given in various ways. It may be defined parametrically or discretely in terms of an ordered sequence of displacements or in geometric means. This paper studies a new type of motion analysis problem ...
A Task-Driven Approach to Unified Synthesis of Planar Four-Bar Linkages Using Algebraic Fitting of a Pencil of G-Manifolds
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of planar four-bar motion generation from the viewpoint of extraction of geometric constraints from a given set of planar displacements. Using the image space of planar displacements, we ...
A Unified Algorithm for Analysis and Simulation of Planar Four Bar Motions Defined With R and P Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a single, unified, and efficient algorithm for animating the coupler motions of all fourbar mechanisms formed with revolute (R) and prismatic (P) joints. This is achieved without having to formulate and ...
A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper studies the problem of spherical four-bar motion synthesis from the viewpoint of acquiring circular geometric constraints from a set of prescribed spherical poses. The proposed approach extends our planar four-bar ...