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    A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints

    Source: Journal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 001::page 14504
    Author:
    Li, Xiangyun
    ,
    Ge, Q. J.
    ,
    Gao, Feng
    DOI: 10.1115/1.4041788
    Publisher: The American Society of Mechanical Engineers (ASME)
    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.
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      A Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4256585
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    contributor authorLi, Xiangyun
    contributor authorGe, Q. J.
    contributor authorGao, Feng
    date accessioned2019-03-17T11:03:12Z
    date available2019-03-17T11:03:12Z
    date copyright12/10/2018 12:00:00 AM
    date issued2019
    identifier issn1942-4302
    identifier otherjmr_011_01_014504.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4256585
    description abstractThis 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Computational Geometric Approach for Motion Generation of Spatial Linkages With Sphere and Plane Constraints
    typeJournal Paper
    journal volume11
    journal issue1
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4041788
    journal fristpage14504
    journal lastpage014504-7
    treeJournal of Mechanisms and Robotics:;2019:;volume( 011 ):;issue: 001
    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