YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    Synthesizing Mechanical Chains for Morphing Between Spatial Curves

    Source: Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 002
    Author:
    Li, Yucheng
    ,
    Murray, Andrew P.
    ,
    Myszka, David H.
    DOI: 10.1115/1.4045938
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper extends the kinematic synthesis methodology for designing a chain of bodies to match a set of arbitrary curves to the spatial case. The methodology initiates with an arbitrary set of spatial curves, and concludes with a set of bodies defined by their spatial features. The bodies synthesized can be one of three types: a rigid segment, a helical segment with constant curvature and torsion but varying length, and a growth segment that maintains its geometry but may be scaled to become larger or smaller. To realize mechanical chains for mechanisms that achieve spatial shape change, only rigid and helical segments are used. After designing the segments, they may be aligned with the original spatial curves with their ends connected via an optimization. For two curves, these connections may be made with revolute joints to obtain high accuracy. For three or more curves, spherical joint connections allow for best accuracy. To compare curves as is useful in morphometry, all three segment types may be employed. In this case, an accurate description of the changes between curves is important, and optimizing to connect the segments is not needed. The procedure for redefining the curves in a way that the techniques in this paper may be applied, as well as the methodologies for synthesizing the three segment types are presented. Examples include a continuum robot problem and the morphometric analyses of cochlear curves and the lambdoidal suture located on a human skull. This work extends the established planar techniques for synthesizing mechanisms and addressing morphometric issues that are motivated with curves in two-dimensions.
    • Download: (885.5Kb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      Synthesizing Mechanical Chains for Morphing Between Spatial Curves

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4273658
    Collections
    • Journal of Mechanisms and Robotics

    Show full item record

    contributor authorLi, Yucheng
    contributor authorMurray, Andrew P.
    contributor authorMyszka, David H.
    date accessioned2022-02-04T14:26:20Z
    date available2022-02-04T14:26:20Z
    date copyright2020/02/03/
    date issued2020
    identifier issn1942-4302
    identifier otherjmr_12_2_021105.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4273658
    description abstractThis paper extends the kinematic synthesis methodology for designing a chain of bodies to match a set of arbitrary curves to the spatial case. The methodology initiates with an arbitrary set of spatial curves, and concludes with a set of bodies defined by their spatial features. The bodies synthesized can be one of three types: a rigid segment, a helical segment with constant curvature and torsion but varying length, and a growth segment that maintains its geometry but may be scaled to become larger or smaller. To realize mechanical chains for mechanisms that achieve spatial shape change, only rigid and helical segments are used. After designing the segments, they may be aligned with the original spatial curves with their ends connected via an optimization. For two curves, these connections may be made with revolute joints to obtain high accuracy. For three or more curves, spherical joint connections allow for best accuracy. To compare curves as is useful in morphometry, all three segment types may be employed. In this case, an accurate description of the changes between curves is important, and optimizing to connect the segments is not needed. The procedure for redefining the curves in a way that the techniques in this paper may be applied, as well as the methodologies for synthesizing the three segment types are presented. Examples include a continuum robot problem and the morphometric analyses of cochlear curves and the lambdoidal suture located on a human skull. This work extends the established planar techniques for synthesizing mechanisms and addressing morphometric issues that are motivated with curves in two-dimensions.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleSynthesizing Mechanical Chains for Morphing Between Spatial Curves
    typeJournal Paper
    journal volume12
    journal issue2
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4045938
    page21105
    treeJournal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 002
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    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