Design of four-bar mechanism for vibratory tillage cultivator using five precision position method for path generation problem

2022 ◽  
Vol 21 (1/2) ◽  
pp. 4
Author(s):  
N.R.N.V. Gowripathi Rao ◽  
Abhijeet Kumar ◽  
Himanshu Chaudhary ◽  
Ajay Kumar Sharma
Keyword(s):  
Path Generation ◽  
Generation Problem

Symmetrical Coupler Curve and Singular Point Classification in Planar and Spherical Swinging-Block Linkages

2005 ◽  
Vol 128 (2) ◽  
pp. 436-443 ◽  
Author(s):  
Kourosh H. Shirazi
Keyword(s):  
Singular Point ◽  
Path Generation ◽  
Double Points ◽  
Spherical Linkages ◽  
Curve Equation ◽  
Generation Problem ◽  
Crank Mechanism ◽  
Block Mechanism

The purpose of the present paper is coupler curve synthesis and classification in planar and spherical swinging block linkages for path generation problem. It is shown that the swinging block mechanism, which is an inversion of the slider crank mechanism, can be classified into two types. The first type generates Lemniscate coupler curves consisting one or two loops. In this case, two double points, namely cusp and crunode, occur depending on the mechanism's dimension. The second type generates Cardioid and Limaçon type coupler-curves consisting of one, two, three, and four loops. In this case, three kinds of double points, namely cusp, crunode, and tacnode, occur. For the spherical swinging-block linkages, a parametric coupler curve equation is derived. Using a trigonometric similitude between the planar and spherical linkages, a symmetrical coupler curve and singular point classification is accomplished.

A Note on Inverse Kinematics of Hybrid Actuation Robots for Path Design Problems

2011 ◽  
Author(s):  
Dong He ◽  
Zhihong Sun ◽  
W. J. Zhang
Keyword(s):  
Constant Velocity ◽  
Inverse Kinematics ◽  
Robotic Systems ◽  
Robot Design ◽  
Path Generation ◽  
Design Problems ◽  
Path Design ◽  
Design Theories ◽  
Hybrid Actuation ◽  
Generation Problem

Hybrid actuation robotic systems are mechanical systems that contain both servomotors and constant-velocity (CV) motors. Due to this nature of hybrid actuation, design of hybrid actuation robots is governed by both mechanism and robot design theories and methodologies. For instance, the path generation problem in mechanism design may take advantage of the effect of the servomotor for its real-time adjusting function, for which inverse kinematics needs to be established on the servomotor. In this paper, we first generalize four types of path design problems. We then present a general formulation of inverse kinematics for a five-bar hybrid actuation robot and compare two specific approaches to inverse kinematics in the literature in terms of of their computation and suitability to the path design of hybrid actuation robots. Finally, we extend the result for the five-bar hybrid actuation robot to a general hybrid actuation robot.

Synthesis of a Spatial RRSS Mechanism for Path Generation Using the Numerical Atlas Method

2019 ◽  
Vol 142 (1) ◽  
Author(s):  
Wenrui Liu ◽  
Jianwei Sun ◽  
Jinkui Chu
Keyword(s):  
Rotation Angle ◽  
Synthesis Method ◽  
Path Generation ◽  
Feature Parameters ◽  
Atlas Method ◽  
Path Synthesis ◽  
The Mathematical Model ◽  
The Relationship ◽  
Generation Problem ◽  
Actual Size

Abstract An open path synthesis method for a spatial revolute-revolute-spherical-spherical (RRSS) mechanism is presented in this paper. The mathematical model for the trajectory curve is established. The characteristics of an RRSS mechanism in a standard installation position are revealed: the projection points of the coupler curve on the Oxy plane rotate by the corresponding input angles around the z-axis, and the generated points lie on an ellipse. Based on this finding, a 17-dimensional path generation problem can be translated into two lower-dimensional matching recognition problems and one actual size and installation position calculation problem. The path generation can be achieved by three steps. First, a database of four dimensional rotation angle parameters is established. By comparing the similarities between the mechanism feature curve of the prescribed open curve and its corresponding mechanism feature ellipse (MFE), the angles of installation, the initial angle of the input link, and the elliptic feature parameters of the desired RRSS mechanism can be approximately determined. Then, a 13-dimensional dynamic self-adapting numerical atlas database is established, which contains six basic dimensional types (BDTs) and seven wavelet feature parameters, and the BDTs of the desired RRSS mechanism are obtained. Finally, based on the relationship between the MFE of the prescribed curve and the BDTs of the desired RRSS mechanism, the calculation models for the actual link lengths and installation positions of the desired RRSS mechanism were established. Three examples are presented in this paper.

Spatial Generalization of the Planar Path Generation Problem

2009 ◽  
pp. 117-124 ◽  
Author(s):  
Chintien Huang ◽  
Bingrong Huang
Keyword(s):  
Path Generation ◽  
Generation Problem

Design of four-bar mechanism for vibratory tillage cultivator using five precision position method for path generation problem

2022 ◽  
Vol 21 (1/2) ◽  
pp. 4
Author(s):  
Abhijeet Kumar ◽  
Himanshu Chaudhary ◽  
Ajay Kumar Sharma ◽  
N.R.N.V. Gowripathi Rao
Keyword(s):  
Path Generation ◽  
Generation Problem

On Path Generation Method for Laser Cleaning Robot Based on Line Structured Light

2020 ◽  
Author(s):  
Qingzeng Ma ◽  
Dongbin Zhang ◽  
Shuo Jin ◽  
Yuan Ren ◽  
Wei Cheng ◽  
...  
Keyword(s):  
Structured Light ◽  
Laser Cleaning ◽  
Path Generation ◽  
Cleaning Robot ◽  
On Line

Minimum Energy Wind Dependent Optimised Path Generation for Multirotors

2021 ◽  
Author(s):  
Alexander McConville ◽  
Colin Greatwood ◽  
Duncan Hine ◽  
Peiman Moradi ◽  
Thomas S. Richardson
Keyword(s):  
Minimum Energy ◽  
Path Generation

Test path generation approach for GUI based on event weight

2009 ◽  
Vol 29 (5) ◽  
pp. 1382-1384
Author(s):  
Qin JIANG ◽  
Lin-lan LIU ◽  
Xi SU ◽  
Ke CAI
Keyword(s):  
Path Generation
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