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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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