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contributor authorDavid A. Perkins
contributor authorAndrew P. Murray
date accessioned2017-05-09T00:53:28Z
date available2017-05-09T00:53:28Z
date copyrightFebruary, 2012
date issued2012
identifier issn1942-4302
identifier otherJMROA6-28019#011007_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/149899
description abstractGiven a single degree of freedom mechanism, a moving reference frame attached to any link has a motion that can be described with a single parameter. A point relative to this moving frame is sought such that it either continually increases or decreases in distance from a point in the fixed frame over the entire motion. These points can be used to define a revolute–prismatic–revolute (RPR) chain for a planar mechanism or a spherical–prismatic–spherical (SPS) chain for a spherical mechanism capable of actuating the device over its entire range of motion. Moreover, the singularities relative to the joints in the original mechanism are not a concern and the dimensional synthesis can focus on creating the set of circuit-defect free solutions. From this analysis, a unique fixed point is determined in the planar case relative to two positions and their velocities with the following characteristic. All points in the moving reference frame that are moving away from it in the first position are approaching it in the second position, and vice versa. This point is as critical to the identification of singularity-free driving chains as the centrodes or the poles.
publisherThe American Society of Mechanical Engineers (ASME)
titleSingularity Free Revolute–Prismatic–Revolute and Spherical–Prismatic–Spherical Chains for Actuating Planar and Spherical Single Degree of Freedom Mechanisms
typeJournal Paper
journal volume4
journal issue1
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4005530
journal fristpage11007
identifier eissn1942-4310
keywordsMotion
keywordsChain
keywordsMechanisms
keywordsDegrees of freedom
keywordsStructural frames AND Poles (Building)
treeJournal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 001
contenttypeFulltext


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