Advanced Technique of Type Synthesis and Construction of Veritable Complete Atlases of Multiloop F-DOF Generalized Kinematic Chains

2018 ◽  
pp. 207-214 ◽  
Author(s):  
Vladimir Pozhbelko
Keyword(s):  
Type Synthesis ◽  
Advanced Technique ◽  
Kinematic Chains

Structure Types Synthesis of Multiloop Spatial Kinematic Chains With General Variable Constraints

1998 ◽  
Author(s):  
Yufeng Luo ◽  
Tingli Yang ◽  
Ali Seireg
Keyword(s):  
Kinematic Chain ◽  
Structure Type ◽  
Type Synthesis ◽  
Kinematic Chains ◽  
Systematic Procedure ◽  
Independent Loops

Abstract A systematic procedure is presented for the structure type synthesis of multiloop spatial kinematic chains with general variable constraints in this paper. The parameters and the structure types of the contracted graphs and the branch chains used to synthesize such kinematic chains are given for kinematic chains with up to four independent loops. The assignments for the constraints values of all the loops in a kinematic chain are discussed. Using these as the basis, the structure types of the multiloop spatial kinematic chains with hybrid constraints could be synthesized.

A Survey of One Class of 7-Jointed Serially Connected Robots: Type-Synthesis to Obtain Controllably Dexterous Workspace

1989 ◽  
Vol 111 (2) ◽  
pp. 163-175 ◽  
Author(s):  
J. K. Davidson
Keyword(s):  
Screw Theory ◽  
Kinematic Chain ◽  
Synthesis Process ◽  
Geometric Description ◽  
Type Synthesis ◽  
End Effector ◽  
Identification Process ◽  
Kinematic Chains ◽  
Five Axes

A type-synthesis process, which is based on screw theory and geometry, is developed to identify certain robots, each of which can provide controllably dexterous workspace of a tool-point. The identification process is confined to only those robots which control the motion of the end-effector with seven series-connected joints, the axes for the outermost three of which are concurrent. Forty six types of robots are so identified, and, for each, the results are (i) a suitable kinematic chain for the arm and (ii) suitable angle-dimensions for the links of the arm, where the angle-choices are limited to the values 0, ± π/2, and π. A geometric description of the dominant function for control is included. The same kinematic chains are surveyed for all possible parallel and right-angle arrangements of adjacent axes in the four links of the arm. Again utilizing screw theory, 160 robots are identified which do not posses full-cycle axis-dependence among some or all of the first five axes.

Addition method with 2 links and 3 pairs of type synthesis to planar closed kinematic chains

2012 ◽  
Vol 58 ◽  
pp. 179-191 ◽  
Author(s):  
Songhui Nie ◽  
Aihong Liao ◽  
Aihong Qiu ◽  
Shuguang Gong
Keyword(s):  
Type Synthesis ◽  
Addition Method ◽  
Kinematic Chains

Synthesis of 2T1R Decoupled Parallel Manipulators

2011 ◽  
Vol 308-310 ◽  
pp. 2025-2030 ◽  
Author(s):  
Wen Juan Lu ◽  
Li Jie Zhang ◽  
Da Xing Zeng ◽  
Ruo Song Wang
Keyword(s):  
Screw Theory ◽  
Control Design ◽  
Parallel Manipulators ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Precision Control ◽  
Kinematic Chains ◽  
Step Procedure ◽  
Nonlinear Relation ◽  
Three Degree Of Freedom

For the general parallel mechanisms(PMS), since the coupling between kinematic chains, the nonlinear relation between the input and output is presented, which have led to difficulty in the trajectory planning and precision control. Design of motion decoupled parallel mechanisms(DPMS) has become a good new topic in this area and has captured researcher's attention. In this work, the approach to a synthesis of three degree-of-freedom(3-DOF) DPMS is considered based on screw theory and motion synthesis ideas. Criterions for type synthesis of the branches for DPMS is established according to the twist screw system of the limbs, which assures the decoupling in each limb. Then a six-step procedure is presented for the type synthesis of 2T1R decoupled mechanisms.

Systematic Design of Mechanical Devices

1998 ◽  
Author(s):  
Preben W. Jensen
Keyword(s):  
Systematic Design ◽  
Type Synthesis ◽  
Usual Definition ◽  
Kinematic Chains ◽  
Input And Output ◽  
Correct Definition ◽  
The Subject ◽  
Systematic Development ◽  
Definition Of ◽  
Mechanical Devices

Abstract Structural analysis and type synthesis (joint substitution) is a prerequisite for the systematic development of mechanisms. However, the design of mechanical devices requires first a consideration of whether there is a fixed member or not (as by hand-held devices) and then a differentiation between at least two input and two output members (links). The subject of hand-held tools requires an expanded (and correct) definition of a mechanism because no link is fixed (although they are mechanisms in the true sense of the word). Open as well as combined open and closed kinematic chains must be included in the definition of mechanisms. This approach leads to the creation of new devices that cannot be obtained with known methods. This approach also allows a closer look at existing devices. The intuitive approach, even for one who is very familiar with linkage mechanisms, will in general not lead to the goal of choosing the input and output links in an optimal way. The development requires an overhaul of the usual definition of a mechanism.

Evolutionary Design of Planar Kinematic Chains

1998 ◽  
Author(s):  
David R. Nielsen ◽  
Kazem Kazerounian
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Chain ◽  
Type Synthesis ◽  
Kinematic Chains ◽  
Design Flexibility ◽  
Novel Approach ◽  
Chain Link ◽  
Synthesis Of Mechanisms ◽  
New Ideas ◽  
Crossover And Mutation

Abstract A procedure is developed to optimize planar mechanism type. A Genetic Algorithm is used to cycle populations of kinematic chain link adjacency matrices, through selection, crossover, and mutation. During this optimization, fit kinematic chains survive while unfit kinematic chains do not. Upon convergence, synthesized kinematic chains of high fitness remain. This technique was lead to be called the Genetic Algorithm for Type Synthesis (GATS). GATS introduces four new ideas for the type synthesis of mechanisms. First, it does not permute all possible kinematic chains. It searches for the best kinematic chains depending on a designer’s specifications. Second, larger size mechanisms can be generated because of the genetic algorithm’s evolutionary naturalness. Third, a novel approach was applied to genetic algorithms to allow the encodings to mutate in size. This allowed for addition or elimination of links in kinematic chains during evolution. Forth, a new property was deduced from mechanism topography that describes the mechanism design flexibility.

A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part I — Modular Structural Analysis and Modular Kinemaic Analysis

1998 ◽  
Author(s):  
Ting-Li Yang ◽  
Fang-Hua Yao ◽  
Ming Zhang
Keyword(s):  
Structural Analysis ◽  
Comparative Study ◽  
Type Synthesis ◽  
Dynamical Equations ◽  
Kinematic Synthesis ◽  
Automated Generation ◽  
Kinematic Chains ◽  
Analysis And Synthesis ◽  
Modular Method ◽  
Planar Linkages

Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In the systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: part I — modular structural analysis and modular kinematic analysis; part II — modular dynamics analysis, modular structural synthesis and modular kinematic synthesis. This paper is the first part.

Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory

2004 ◽  
Vol 126 (1) ◽  
pp. 83-92 ◽  
Author(s):  
Xianwen Kong ◽  
Cle´ment M. Gosselin
Keyword(s):  
Screw Theory ◽  
General Procedure ◽  
Linear Equations ◽  
Kinematic Chain ◽  
Parallel Manipulators ◽  
Type Synthesis ◽  
Displacement Analysis ◽  
Kinematic Chains ◽  
Small Joint ◽  
Actuated Joints

A method is proposed for the type synthesis of 3-DOF (degree-of-freedom) translational parallel manipulators (TPMs) based on screw theory. The wrench systems of a translational parallel kinematic chain (TPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of TPMs. The type synthesis of legs for TPKCs, the type synthesis of TPKCs as well as the selection of actuated joints of TPMs are dealt with in sequence. An approach to derive the full-cycle mobility conditions for legs for TPKCs is proposed based on screw theory and the displacement analysis of serial kinematic chains undergoing small joint motions. In addition to the TPKCs proposed in the literature, TPKCs with inactive joints are synthesized. The phenomenon of dependent joint groups in a TPKC is revealed systematically. The validity condition of actuated joints of TPMs is also proposed. Finally, linear TPMs, which are TPMs whose forward displacement analysis can be performed by solving a set of linear equations, are also revealed.

Creative Design Based on Mechanism Regeneration of a Sofa Bed

2011 ◽  
Vol 66-68 ◽  
pp. 442-447
Author(s):  
Shi Fu Xu ◽  
Lei Zhang ◽  
Lu Zhang
Keyword(s):  
Design Methodology ◽  
Mechanical Design ◽  
Synthesis Method ◽  
Original Structure ◽  
Creative Design ◽  
Type Synthesis ◽  
Systematic Method ◽  
Kinematic Chains ◽  
Different Shapes ◽  
Number Synthesis

Creative design plays a quite important role in mechanical product processing, which affects the mechanical development of all over the country. Much research on the mechanical design is carried on. The paper is mainly based on Yan’s Creative Mechanism Design Methodology, in which the author carries out some research in Type Synthesis based on the Number Synthesis Method. And kinematic chains of eight links and ten joints can be gained from embryo graphs. In the article, the author proposes a systematic method for the creation of a sofa bed. In the process, some rules are brought in, and the original structure is changed for other structures with the same functions but different shapes. At last, many probable schemes different from the original mechanism are obtained. The next step is to choose the most proper scheme in order to carry on the further analysis.

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