Synthesis of Rectilinear Motion Generating Spatial Mechanism With Application to Automotive Suspension

2008 ◽  
Vol 130 (6) ◽  
Author(s):  
Jing-Shan Zhao ◽  
Fulei Chu ◽  
Zhi-Jing Feng
Keyword(s):  
Synthesis Method ◽  
Rectilinear Motion ◽  
End Effector ◽  
Kinematic Chains ◽  
Spatial Mechanism ◽  
Straight Line ◽  
Automotive Suspension ◽  
Generic Process ◽  
Wheel Track

This paper proposes a synthesis method for rectilinear motion generating spatial mechanism with application to automotive suspension. First, it presents a generic process to synthesize the kinematic chains of a mechanism with the prescribed mobility, and then it deduces the construction criteria of feasible kinematic chains for such a mechanism. The most outstanding advantages of the rectilinear motion generating spatial mechanism used as the independent automotive suspension are that the orientation and position parameters such as kingpin, caster, camber, axis distance, and wheel track are always maintained constant during jounce and rebound. These ideal characteristics are guaranteed by the particular rigid guidance mechanism whose end effector only has one translation along an exact straight line.

Synthesis of a Rear Wheel Suspension Mechanism With Pure Rectilinear Motion

2009 ◽  
Vol 131 (10) ◽  
Author(s):  
Jing-Shan Zhao ◽  
Fulei Chu ◽  
Zhi-Jing Feng ◽  
Sheng Zhao
Keyword(s):  
Rigid Body ◽  
Screw Theory ◽  
Kinematic Chain ◽  
Rear Wheel ◽  
Rectilinear Motion ◽  
Rear Suspension ◽  
Kinematic Chains ◽  
Redundant Constraint ◽  
Straight Line ◽  
Suspension Structure

This paper focuses on the synthesis of an independent suspension that can guide the wheel to track a straight line when moving up (jounce) and down (rebound). With displacement subgroups, it first synthesizes a rigid body guidance mechanism and verifies the result through screw theory. To simplify and optimize the loads of each kinematic chain of the knuckle, it investigates the static equations and ultimately synthesizes a symmetric redundant-constraint suspension structure, which could not only eliminate the shambling shocks induced by the jumping of wheels but also decrease the abrasion of tires. Theoretically, only one pair of noncoplanar kinematic chains is necessary to realize straight line guidance. However, a second pair of noncoplanar kinematic chains is particularly utilized to improve the load status of the links. Because of the redundant constraints induced by the suspension structures, the whole weight can be significantly reduced compared with the initial one. ADAMS simulations with a set of real parameters indicate that the rear suspension mechanism proposed in this paper can guide the wheel to follow a rectilinear locus during jounce and rebound. Therefore, this kind of independent suspension can improve the ride and handling properties of advanced vehicles.

Connectivity calculation-based automatic synthesis of planar multi-loop mechanisms

2021 ◽  
pp. 1-29
Author(s):  
Peng Huang ◽  
Huafeng Ding ◽  
Wenjian Yang ◽  
Gongyue Xu
Keyword(s):  
Synthesis Method ◽  
Connectivity Matrix ◽  
Automatic Method ◽  
Practical Application ◽  
Automatic Synthesis ◽  
End Effector ◽  
Kinematic Chains ◽  
Hybrid Code ◽  
Open Issue ◽  
Matrix Calculation

Abstract The creative design of kinematic structures with excellent performance remains an open issue in the quest for developing novel multi-loop mechanisms. This study presents an automatic method to synthesize all non-isomorphic planar multi-loop mechanisms satisfying the required connectivity between the base and the end-effector. First, based on the connectivity matrix calculation, all multi-loop mechanisms are generated from synthesized kinematic chains. Second, the concepts of perimeter, canonical and characteristic graphs of multi-color topological graphs are addressed to acquire the simplified characteristic hybrid code in order to eliminate isomorphic multi-loop mechanisms. Then, an automatic method to synthesize all non-isomorphic planar multi-loop mechanisms with the required connectivity between the base and the end-effector is provided. Third, a practical application of this synthesis method is illustrated by taking the mechanical arm of a face-shovel hydraulic excavator as an example to demonstrate the effectiveness of the method. Finally, the advantages of the proposed method are discussed and compared in detail.

Parameterization of Three-Dimensional Rigid Body Guidance Incorporating Planar Gear Connections in a Spatial Closed-Loop Mechanism With Parallel Consecutive Axes

2008 ◽  
Author(s):  
Javier Rolda´n Mckinley ◽  
Carl Crane ◽  
David B. Dooner
Keyword(s):  
Computer Animation ◽  
Closed Loop ◽  
Three Dimensional ◽  
Motion Generation ◽  
Repetitive Motion ◽  
End Effector ◽  
Spatial Mechanism ◽  
Joint Axis ◽  
Position And Orientation ◽  
Six Degree Of Freedom

This paper introduces a reconfigurable closed-loop spatial mechanism that can be applied to repetitive motion tasks. The concept is to incorporate five pairs of non-circular gears into a six degree-of–freedom closed-loop spatial chain. The gear pairs are designed based on given mechanism parameters and a user defined motion specification of a coupler link of the mechanism. It is shown in the paper that planar gear pairs can be used if the spatial closed-loop chain is comprised of six pairs of parallel joint axes, i.e. the first joint axis is parallel to the second, the third is parallel to the fourth, ..., and the eleventh is parallel to the twelfth. This paper presents the synthesis of the gear pairs that satisfy a specified three-dimensional position and orientation need. Numerical approximations were used in the synthesis the non-circular gear pairs by introducing an auxiliary monotonic parameter associated to each end-effector position to parameterize the motion needs. The findings are supported by a computer animation. No previous known literature incorporates planar non-circular gears to fulfill spatial motion generation needs.

scholarly journals 2. On the Law of Inertia; the Principle of Chronometry; and the Principle of Absolute Clinural Rest, and of Absolute Rotation

1884 ◽  
Vol 12 ◽  
pp. 568-578 ◽  
Author(s):  
James Thomson
Keyword(s):  
Rectilinear Motion ◽  
Straight Line ◽  
The Law ◽  
The Universe

There is no distinction known to men among states of existence of a body which can give reason for any one state being regarded as a state of absolute rest in space, and any other being regarded as a state of uniform rectilinear motion. Men have no means of knowing, nor even of imagining, any one length rather than any other, as being the distance between the place occupied by the centre of a ball at present, and the place that was occupied by that centre at any past instant; nor of knowing or imagining any one direction, rather than any other, as being the direction of the straight line from the former place to the new place, if the ball is supposed to have been moving in space. The point of space that was occupied by the centre of the ball at any specifiod past moment is utterly lost to us as soon as that moment is past, or as soon as the centre has moved out of that point, having left no trace recognisable by us of its past place in the universe of space.

scholarly journals Structural synthesis of plane kinematic chain inversions without detecting isomorphism

2021 ◽  
Vol 12 (2) ◽  
pp. 1061-1071
Author(s):  
Jinxi Chen ◽  
Jiejin Ding ◽  
Weiwei Hong ◽  
Rongjiang Cui
Keyword(s):  
Mechanism Design ◽  
Adjacency Matrix ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Synthesis Methods ◽  
Creative Design ◽  
Structural Synthesis ◽  
Kinematic Chains

Abstract. A plane kinematic chain inversion refers to a plane kinematic chain with one link fixed (assigned as the ground link). In the creative design of mechanisms, it is important to select proper ground links. The structural synthesis of plane kinematic chain inversions is helpful for improving the efficiency of mechanism design. However, the existing structural synthesis methods involve isomorphism detection, which is cumbersome. This paper proposes a simple and efficient structural synthesis method for plane kinematic chain inversions without detecting isomorphism. The fifth power of the adjacency matrix is applied to recognize similar vertices, and non-isomorphic kinematic chain inversions are directly derived according to non-similar vertices. This method is used to automatically synthesize 6-link 1-degree-of-freedom (DOF), 8-link 1-DOF, 8-link 3-DOF, 9-link 2-DOF, 9-link 4-DOF, 10-link 1-DOF, 10-link 3-DOF and 10-link 5-DOF plane kinematic chain inversions. All the synthesis results are consistent with those reported in literature. Our method is also suitable for other kinds of kinematic chains.

A Synthesis Method for Placing Workpieces in RPR Planar Robotic Workcells in Which Large Rotations Are Required at the Workpiece

1996 ◽  
Author(s):  
K. D. Chaney ◽  
J. K. Davidson
Keyword(s):  
Reference Frame ◽  
Synthesis Method ◽  
Analytical Representation ◽  
New Method ◽  
Two Dimensional ◽  
End Effector ◽  
Radial Location ◽  
Practical Applications ◽  
Full Turn ◽  
Large Rotations

Abstract A new method is developed for determining both a satisfactory location of a workpiece and a suitable mounting-angle of the tool for planar RPR robots that can provide dexterous workspace. The method is an analytical representation of the geometry of the robot and the task, and is particularly well suited to applications in which the task requires large rotations of the end-effector. It is determined that, when the task requires that the end-effector rotate a full turn at just two locations and when the first or third joint in the robot is rotatable by one turn, then the radial location of the workpiece is fixed in the workcell but its angular location is not fixed. When the mounting-angle of the tool is also a variable, the method accommodates tasks in which the tool must rotate a full turn at three locations on the workpiece. The results are presented as coordinates of points in a two-dimensional Cartesian reference frame attached to the workcell. Consequently, a technician or an engineer can determine the location for the workpiece by laying out these coordinates directly in the workcell. Example problems illustrate the method. Practical applications include welding and deposition of adhesives.

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2017 ◽  
pp. 314-327
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

Utility of Matrix Algebra and Graphical User Interface in Design of Six-Bar Mechanism for Rectilinear Motion Generation

2013 ◽  
Author(s):  
Behrooz Fallahi ◽  
Seyyed Alireza Seyyed Mousavi ◽  
Arjun Kumar Perla ◽  
Ilia Mokhtarian
Keyword(s):  
User Interface ◽  
Graphical User Interface ◽  
Matrix Algebra ◽  
Design Space ◽  
Rectilinear Motion ◽  
Motion Generation ◽  
Straight Line ◽  
Synthesis Procedure ◽  
And Inversion

Many applications require design of a linkage that executes a rectilinear motion. In this study a synthesis procedure for six-bar mechanism for generation of rectilinear motion is presented. To achieve this goal, matrix algebra is used to describe translation, rotation, and inversion of motion of links. These concepts then are used to implement the classical three-precision point synthesize of a four-bar mechanism with a coupler point that traces a straight line. The motion of this four-bar mechanism is inverted and then is used to synthesize a second four-bar mechanism. The merging of these two four-bar mechanisms forms a six-bar mechanism such that the motion of one link is rectilinear motion. To implement this procedure, a graphical user interface is developed for the ease of exploring the design space. The utility of this approach is demonstrated by designing a linkage for a lift-truck.

The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
K. Azizian ◽  
P. Cardou
Keyword(s):  
Synthesis Method ◽  
Sufficient Condition ◽  
Nonlinear Program ◽  
Parallel Mechanisms ◽  
Dimensional Synthesis ◽  
End Effector ◽  
A Value ◽  
Null Value ◽  
Objective Value

This paper presents a method for the dimensional synthesis of fully constrained spatial cable-driven parallel mechanisms (CDPMs), namely, the problem of finding a geometry whose wrench-closure workspace (WCW) contains a prescribed workspace. The proposed method is an extension to spatial CDPMs of a synthesis method previously published by the authors for planar CDPMs. The WCW of CDPMs is the set of poses for which any wrench can be produced at the end-effector by non-negative cable tensions. A sufficient condition is introduced in order to verify whether a given six-dimensional box, i.e., a box covering point-positions and orientations, is fully inside the WCW of a given spatial CDPM. Then, a nonlinear program is formulated, whose optima represent CDPMs that can reach any point in a set of boxes prescribed by the designer. The objective value of this nonlinear program indicates how well the WCW of the resulting CDPM covers the prescribed box, a null value indicating that none of the WCW is covered and a value greater or equal to one indicating that the full prescribed workspace is covered.

Study on synthesis method of λ-formed 4-bar linkages approximating a straight line

2009 ◽  
Vol 44 (1) ◽  
pp. 57-65 ◽  
Author(s):  
Han Jianyou ◽  
Qian Weixiang ◽  
Zhao Huishe
Keyword(s):  
Synthesis Method ◽  
Straight Line
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