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    Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping

    Source: Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 005::page 51004
    Author:
    Zhao, Ping
    ,
    Ge, Xin
    ,
    Zi, Bin
    ,
    Ge, Q. J.
    DOI: 10.1115/1.4032212
    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 in hyperspace. In this paper, we applied kinematic mapping theory to planar discrete motion synthesis of an arbitrary number of approximated poses as well as up to four exact poses. A simultaneous type and dimensional synthesis approach is presented, aiming at the problem of mixed exact and approximate motion realization with three types of planar dyad chains (RR, RP, and PR). A twostep unified strategy is established: first N given approximated poses are utilized to formulate a general quadratic surface fitting problem in hyperspace, then up to four exact poses could be imposed as poseconstraint equations to this surface fitting system such that they could be strictly satisfied. The former step, the surface fitting problem, is converted to a linear system with two quadratic constraint equations, which could be solved by a nullspace analysis technique. On the other hand, the given exact poses in the latter step are formulated as linear poseconstraint equations and added back to the system, where both type and dimensions of the resulting optimal dyads could be determined by the solution. These optimal dyads could then be implemented as different types of fourbar linkages or parallel manipulators. The result is a novel algorithm that is simple and efficient, which allows for Npose motion approximation of planar dyads containing both revolute and prismatic joints, as well as handling of up to four prescribed poses to be realized precisely.
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      Planar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping

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    http://yetl.yabesh.ir/yetl1/handle/yetl/161923
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    contributor authorZhao, Ping
    contributor authorGe, Xin
    contributor authorZi, Bin
    contributor authorGe, Q. J.
    date accessioned2017-05-09T01:31:27Z
    date available2017-05-09T01:31:27Z
    date issued2016
    identifier issn1942-4302
    identifier otherjmr_008_05_051004.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/161923
    description abstractIt 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 in hyperspace. In this paper, we applied kinematic mapping theory to planar discrete motion synthesis of an arbitrary number of approximated poses as well as up to four exact poses. A simultaneous type and dimensional synthesis approach is presented, aiming at the problem of mixed exact and approximate motion realization with three types of planar dyad chains (RR, RP, and PR). A twostep unified strategy is established: first N given approximated poses are utilized to formulate a general quadratic surface fitting problem in hyperspace, then up to four exact poses could be imposed as poseconstraint equations to this surface fitting system such that they could be strictly satisfied. The former step, the surface fitting problem, is converted to a linear system with two quadratic constraint equations, which could be solved by a nullspace analysis technique. On the other hand, the given exact poses in the latter step are formulated as linear poseconstraint equations and added back to the system, where both type and dimensions of the resulting optimal dyads could be determined by the solution. These optimal dyads could then be implemented as different types of fourbar linkages or parallel manipulators. The result is a novel algorithm that is simple and efficient, which allows for Npose motion approximation of planar dyads containing both revolute and prismatic joints, as well as handling of up to four prescribed poses to be realized precisely.
    publisherThe American Society of Mechanical Engineers (ASME)
    titlePlanar Linkage Synthesis for Mixed Exact and Approximated Motion Realization Via Kinematic Mapping
    typeJournal Paper
    journal volume8
    journal issue5
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4032212
    journal fristpage51004
    journal lastpage51004
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 005
    contenttypeFulltext
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    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian