contributor author | Li, Xiangyun | |
contributor author | Ge, Q. J. | |
contributor author | Gao, Feng | |
date accessioned | 2019-03-17T11:03:12Z | |
date available | 2019-03-17T11:03:12Z | |
date copyright | 12/10/2018 12:00:00 AM | |
date issued | 2019 | |
identifier issn | 1942-4302 | |
identifier other | jmr_011_01_014504.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4256585 | |
description abstract | This paper studies the problem of spatial linkage synthesis for motion generation from the perspective of extracting geometric constraints from a set of specified spatial displacements. In previous work, we have developed a computational geometric framework for integrated type and dimensional synthesis of planar and spherical linkages, the main feature of which is to extract the mechanically realizable geometric constraints from task positions, and thus reduce the motion synthesis problem to that of identifying kinematic dyads and triads associated with the resulting geometric constraints. The proposed approach herein extends this data-driven paradigm to spatial cases, with the focus on acquiring the point-on-a-sphere and point-on-a-plane geometric constraints which are associated with those spatial kinematic chains commonly encountered in spatial mechanism design. Using the theory of kinematic mapping and dual quaternions, we develop a unified version of design equations that represents both types of geometric constraints, and present a simple and efficient algorithm for uncovering them from the given motion. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints | |
type | Journal Paper | |
journal volume | 11 | |
journal issue | 1 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4041788 | |
journal fristpage | 14504 | |
journal lastpage | 014504-7 | |
tree | Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 001 | |
contenttype | Fulltext | |