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contributor authorLi, Xiangyun;Lv, Hao;Zhao, Ping;Lu, Qi
date accessioned2023-04-06T12:58:15Z
date available2023-04-06T12:58:15Z
date copyright9/20/2022 12:00:00 AM
date issued2022
identifier issn10500472
identifier othermd_144_12_123302.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288856
description abstractThis paper studies the problem of geometric constraint acquisition from a given planar motion task using Fourier descriptor. In the previous work, we established a computational geometric framework for simultaneous type and dimensional synthesis of planar dyads by extracting line or circle constraints from a sequence of task poses. In cases where six or more poses are specified as the desired movement, the resulting optimal constraint may be nowhere in the accuracy neighborhood to be viewed as an approximate line or circle. The approach herein enhances the framework by exploiting Fourier transform to capture the feasible constraint of a continuous motion with a large set of poses. Theoretically, any arbitrary point trajectory on the task motion can be transformed to an array of harmonics and used as a constraint; on a practical level, only those with low number of harmonics could allow accurate realization by simple planar mechanisms suitable for real applications, e.g., four and sixbar linkages, cams, and coupled serial chains. Therefore, the practical goal is to find the simple Fourier constraint defined with the least number of harmonics. Two examples of designing assistive mechanisms for upper and lowerlimb rehabilitation are provided in the end to illustrate the effectiveness of our approach.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Fourier Approach to Kinematic Acquisition of Geometric Constraints of Planar Motion for Practical Mechanism Design
typeJournal Paper
journal volume144
journal issue12
journal titleJournal of Mechanical Design
identifier doi10.1115/1.4055378
journal fristpage123302
journal lastpage12330212
page12
treeJournal of Mechanical Design:;2022:;volume( 144 ):;issue: 012
contenttypeFulltext


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