Show simple item record

contributor authorLi, Xiangyun
contributor authorGe, Xin
contributor authorPurwar, Anurag
contributor authorGe, Q. J.
date accessioned2017-05-09T01:21:19Z
date available2017-05-09T01:21:19Z
date issued2015
identifier issn1942-4302
identifier otherjmr_007_01_011014.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/158949
description abstractThis 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 solve the loop closure equation for each type of fourbar linkages separately. Recently, we developed a unified algorithm for synthesizing various fourbar linkages by mapping planar displacements from Cartesian space to the image space using planar quaternions. Given a set of image points that represent planar displacements, the problem of synthesizing a planar fourbar linkage is reduced to finding a pencil of generalized manifolds (or Gmanifolds) that best fit the image points in the least squares sense. In this paper, we show that the same unified formulation for linkage synthesis leads to a unified algorithm for linkage analysis and simulation as well. Both the unified synthesis and analysis algorithms have been implemented on Apple's iOS platform.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Unified Algorithm for Analysis and Simulation of Planar Four Bar Motions Defined With R and P Joints
typeJournal Paper
journal volume7
journal issue1
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4029295
journal fristpage11014
journal lastpage11014
identifier eissn1942-4310
treeJournal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 001
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record