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    Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions

    Source: Journal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 003::page 31009
    Author:
    Larochelle, Pierre
    DOI: 10.1115/1.4028638
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyad's rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed positions to yield designs that exactly reach the prescribed pick and place positions while approximating an arbitrary number of guiding positions. The result is a dimensional synthesis technique for mixed exact and approximate motion generation for planar RR dyads. A solution dyad may be directly implemented as a 2R open chain or two solution dyads may be combined to form a planar 4R closed chain, also known as a planar fourbar mechanism. The synthesis algorithm utilizes only algebraic geometry and does not require the use of a numerical optimization algorithm or a metric on elements of SE(2); the group of planar displacements. Two implementations of the synthesis algorithm are presented; computational and graphical construction. Moreover, the kinematic inversion of the algorithm is also included. Two examples that demonstrate the synthesis technique are included.
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      Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions

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    contributor authorLarochelle, Pierre
    date accessioned2017-05-09T01:21:24Z
    date available2017-05-09T01:21:24Z
    date issued2015
    identifier issn1942-4302
    identifier otherjmr_007_03_031009.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/158976
    description abstractA novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyad's rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed positions to yield designs that exactly reach the prescribed pick and place positions while approximating an arbitrary number of guiding positions. The result is a dimensional synthesis technique for mixed exact and approximate motion generation for planar RR dyads. A solution dyad may be directly implemented as a 2R open chain or two solution dyads may be combined to form a planar 4R closed chain, also known as a planar fourbar mechanism. The synthesis algorithm utilizes only algebraic geometry and does not require the use of a numerical optimization algorithm or a metric on elements of SE(2); the group of planar displacements. Two implementations of the synthesis algorithm are presented; computational and graphical construction. Moreover, the kinematic inversion of the algorithm is also included. Two examples that demonstrate the synthesis technique are included.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleSynthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Positions
    typeJournal Paper
    journal volume7
    journal issue3
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4028638
    journal fristpage31009
    journal lastpage31009
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian