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contributor authorLyu, Zhijie
contributor authorPurwar, Anurag
contributor authorLiao, Wei
date accessioned2024-04-24T22:41:43Z
date available2024-04-24T22:41:43Z
date copyright12/15/2023 12:00:00 AM
date issued2023
identifier issn1050-0472
identifier othermd_146_6_063302.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4295698
description abstractThis paper presents a novel real-time kinematic simulation algorithm for planar N-bar linkage mechanisms, both single- and multi-degrees-of-freedom, comprising revolute and/or prismatic joints and actuators. A key feature of this algorithm is a reinterpretation technique that transforms prismatic elements into a combination of revolute joint and links. This gives rise to a unified system of geometric constraints and a general-purpose solver which adapts to the complexity of the mechanism. The solver requires only two types of methods—fast dyadic decomposition and relatively slower optimization-based—to simulate all types of planar mechanisms. From an implementation point of view, this algorithm simplifies programming without requiring handling of different types of mechanisms. This versatile algorithm can handle serial, parallel, and hybrid planar mechanisms with varying degrees-of-freedom and joint types. Additionally, this paper presents an estimation of simulation time and structural complexity, shedding light on computational demands. Demonstrative examples showcase the practicality of this method.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
typeJournal Paper
journal volume146
journal issue6
journal titleJournal of Mechanical Design
identifier doi10.1115/1.4064132
journal fristpage63302-1
journal lastpage63302-12
page12
treeJournal of Mechanical Design:;2023:;volume( 146 ):;issue: 006
contenttypeFulltext


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