Analysis and Synthesis of Mechanisms with Bars and Gears Used in Robots and Manipulators

A mechanism that encounters a certain changes in its topological structure during operation is called a mechanism with variable topologies (MVT). This paper is developed for the structural and motion state representations and identifications of MVTs. For representing the topological structures of MVTs, a set of methods including graph and matrix representations is proposed. For representing the motion state characteristics of MVTs, the idea of finite-state machines is employed via the state tables and state graphs. And, two new concepts, the topological homomorphism and motion homomorphism, are proposed for the identifications of structural and motion state characteristics of MVTs. The results of this work provide a logical foundation for the topological analysis and synthesis of mechanisms with variable topologies.

Download Full-text

Analysis and Synthesis of Linear Transmission Mechanisms: Coupled Mechanisms and Mechanisms Wth Prismatic Joints

23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis ◽

10.1115/detc1994-0192 ◽

1994 ◽

Author(s):

Sun-Lai Chang

Keyword(s):

Open Loop ◽

Joint Motion ◽

Transmission Mechanisms ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

Prismatic Joints ◽

Application Potential ◽

Loop Chain

Abstract The characteristics of linear transmission mechanisms are studied. Using the characteristics, the kinematic and synthesis of linear transmission mechanisms are expanded. First, the synthesis of mechanisms with prismatic joints in the equivalent open-loop chain is developed. Then the kinematics and synthesis of mechanisms with coupled joint motion are also derived. Two coupled mechanisms are used as examples to demonstrate the application potential in the industry.

Download Full-text

Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators

Journal of Mechanical Design ◽

10.1115/1.2836473 ◽

1995 ◽

Vol 117 (B) ◽

pp. 71-79 ◽

Cited By ~ 83

Author(s):

M. Raghavan ◽

B. Roth

Keyword(s):

Kinematic Analysis ◽

State Of The Art ◽

Polynomial Systems ◽

The State ◽

Polynomial Equations ◽

Systems Of Equations ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

Systems Of Polynomial Equations ◽

And Robotics

Problems in mechanisms analysis and synthesis and robotics lead naturally to systems of polynomial equations. This paper reviews the state of the art in the solution of such systems of equations. Three well-known methods for solving systems of polynomial equations, viz., Dialytic Elimination, Polynomial Continuation, and Grobner bases are reviewed. The methods are illustrated by means of simple examples. We also review important kinematic analysis and synthesis problems and their solutions using these mathematical procedures.

Download Full-text

A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechanisms

Journal of Engineering for Industry ◽

10.1115/1.3428335 ◽

1972 ◽

Vol 94 (4) ◽

pp. 1193-1205 ◽

Cited By ~ 93

Author(s):

A. G. Erdman ◽

G. N. Sandor ◽

R. G. Oakberg

Keyword(s):

Dynamic Error ◽

Viscous Friction ◽

Body Motion ◽

Analysis Technique ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

External Loads ◽

System Inertia ◽

General Method ◽

Internal Body

Kineto-elastodynamics is the study of the motion of mechanisms consisting of elements which may deflect due to external loads or internal body forces. This paper describes the initial phases in the development of a general method of kineto-elastodynamic analysis and synthesis based on the flexibility approach of structural analysis, which may be applied to any planar or spatial mechanism. Dynamic error is investigated due to flexural, longitudinal, and torsional element strain, and system inertia fluctuations; the treatment of Coulomb and viscous friction is indicated. Kineto-Elastodynamic Stretch Rotation Operators are derived which will rotate and stretch both planar and spatial link vectors reflecting rigid body motion plus elastic deformations of the link. A numerical example is presented to demonstrate the elastodynamic analysis technique.

Download Full-text

Kinematic Analysis and Synthesis of Mechanisms

10.1201/9780429327278 ◽

2021 ◽

Author(s):

Asok Kumar Mallik ◽

Amitabha Ghosh ◽

Günter Dittrich

Keyword(s):

Kinematic Analysis ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis

Download Full-text

KINEMATICS OF THE V MECHANISM USED FORELECTRIC SWITCHERS BASED ON SPECIALISED SOFTWARE

Journal of Engineering Studies and Research ◽

10.29081/jesr.v21i3.12 ◽

2016 ◽

Vol 21 (3) ◽

Author(s):

ANTONESCU PĂUN ◽

UNGUREANU LIVIU-MARIAN ◽

BREZEANU COSTANTIN

Keyword(s):

Graphical Analysis ◽

Geometrical Analysis ◽

Analysis Software ◽

Graphical Modeling ◽

Modeling And Analysis ◽

Doctoral Thesis ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

The Mathematical Model ◽

Mechanism Kinematic

This paper is representing a continuing research of the doctoral thesis "Geometrical analysis and synthesis of mechanisms in the electrotechnical field". Using two Mathcad programs as mathematics analysis software and Solidworks as graphical analysis software it is dimensioned the new kinematics scheme of the high voltage V mechanism. Kinematic analysis is based on the mathematical model presented in the doctoral thesis mentioned above and graphical modeling and analysis is conducted to compare and complete the research regarding the V mechanism triadic chain 5R + T type.

Download Full-text

A Quadratic Form-Based Approach to Identification of Kinematic Chains in Structural Analysis and Synthesis of Mechanisms

Volume 2A: 27th Design Automation Conference ◽

10.1115/detc2001/dac-21067 ◽

2001 ◽

Author(s):

Peiren He ◽

Wenjun Zhang ◽

Qing Li

Keyword(s):

Structural Analysis ◽

Quadratic Form ◽

Test Cases ◽

Eigenvalues And Eigenvectors ◽

New Approach ◽

Kinematic Chains ◽

Synthesis Of Mechanisms ◽

Adjacency Matrices ◽

Analysis And Synthesis

Abstract Identification of kinematic chains is needed when studying in structural analysis and synthesis of mechanisms. Research on detection of isomorphism in graphs/kinematic chains has a long history. Many algorithms or methods have been proposed. However, these methods have only achieved success in restricted conditions. This paper proposes a new approach using the concept of quadratic form. Graphs/kinematic chains are first represented by their adjacency matrices, the eigenvalues and their eigenvectors corresponding to these adjacency matrices are then calculated. Two graphs are represented by two quadratic expressions. The comparison of two graphs reduces to the comparison of two quadratic expressions. Quadratic expressions are characterized by the eigenvalues and eigenvectors. An algorithm is developed to compare, correspondingly, eigenvalues and eigenvectors of two graphs, known test cases are used to verify the effectiveness of the approach.

Download Full-text

On Optimal Mechanism Synthesis via Synthesis and Analysis Operators

14th Design Automation Conference ◽

10.1115/detc1988-0052 ◽

1988 ◽

Author(s):

P. H. Hodges ◽

P. Pisano

Keyword(s):

Rigid Body ◽

General Framework ◽

Optimization Techniques ◽

Mechanism Synthesis ◽

Optimal Mechanism ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

Approximate Synthesis ◽

Rigid Body Motions

Abstract This paper presents a general framework for mechanism synthesis based on analysis and synthesis operators. Examples of both exact synthesis and approximate synthesis arc given and the synthesis of mechanisms via optimization techniques is explained using synthesis and analysis operators. Synthesis is addressed as a mapping from the space M of rigid body motions to the space (T,D) of mechanism types and dimensions. Among the results of this formulation are an identification of cognates as mechanisms with the value t of type held constant but with a different vector of dimensions d such that the same motion m is generated. A discussion of this formulation is given, optimal mechanism synthesis is re-interpreted within this framework and some avenues for further work which are indicated by this framework are identified.

Download Full-text

Special Issue on Robot with Integrated Locomotion and Manipulation

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1997.p0247 ◽

1997 ◽

Vol 9 (4) ◽

pp. 247-247

Author(s):

Kan Taguchi ◽

Keyword(s):

Cooperative Control ◽

Committee Member ◽

Final Report ◽

Special Issue ◽

Research Committee ◽

Robot Locomotion ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

New Type ◽

Set Up

Recently, demand has risen for outdoor robots in architecture, civil engineering, agriculture, fire fighting, or restorations of earthquake disasters. For such cases, robots should have both locomotion and manipulation to work in unknown and unassisted fields. Since robot locomotion and manipulation have been researched independently, robots with integrated locomotion and manipulation are anticipated. However, problems involve the cooperative control of locomotor and manipulators or their integrated mechanisms. In January 1994, the Robotics Society of Japan set up an integrated locomotion and manipulation robot research committee whose aim is identify different aspects of such robots, such as analysis and synthesis of mechanisms, control theory for integrated locomotion and manipulation, and actual on-job applications. The Committee includes researchers from industry, government laboratories, and academia, who have discussed the possibilities of new type robots. The Committee organized sessions such as ""Robots with Integrated Locomotion and Manipulations"" in the 12th (1994) to 14th (1996) annual conferences of the Robotics Society of Japan and ""Integrated Locomotion & Manipulation"" in International Robotics Symposium IROS96. A special issue of ""Integrated Locomotion and Manipulation"" for the <I>Journal of the Robotics Society of Japan</I> was compiled and published in November 1995 by the Committee. In November 1996, the Committee handed in its final report to the Society and adjourned. The final report is in Japanese. As a Committee member, I have wanted to introduce some of the Final Report in English. Fortunately, the editors of the <I>Journal of Robotics and Mechatronics</I> have given me the opportunity to publish these reports in a special issue. Other Committee members have agreed to contribute as well. I thank the Committee -- especially Chairman Dr. Tatsuo Arai (MEL), who encouraged me in writing this article. Special thanks go to Prof. Yamafuji, who introduced me to the editors who gave me the chance to publish this article.

Download Full-text

IGM-Mechanism Encyclopaedia and the Digital Mechanism Library as a Knowledge Base in Mechanism Theory

Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2006-99059 ◽

2006 ◽

Cited By ~ 2

Author(s):

Burkhard Corves ◽

Ju¨rgen Niemeyer ◽

Johannes Kloppenburg

Keyword(s):

Easy Access ◽

The Internet ◽

Success Factor ◽

New Developments ◽

Knowledge Presentation ◽

Acrylic Glass ◽

Synthesis Of Mechanisms ◽

Analysis And Synthesis ◽

New Ideas ◽

Mechanism Theory

The Institute of Mechanism Theory and Machine Dynamics of RWTH Aachen University houses a large collection of more than 200 mechanisms and models. Partly they are used to illustrate and visualize kinematic basics and methods taught to students. Furthermore these models are also used as a basis for mechanical designers looking for a solution to their motion tasks in different machinery such as packaging or processing machines. These models span a wide arch from historic models showing e.g. sewing machines from the late 19th century, typewriters from the early 20th century and acrylic glass models still used today in university lectures where they are placed on the overhead projector. With the swift development of the internet as the major base for information retrieval, new ideas about knowledge presentation have come up. Today it is obvious that fast and easy access to information is a major success factor in most areas both economics and science and is therefore of eminent importance. New developments in information technology and related software have created new possibilities for the presentation of scientific knowledge also in mechanism theory [1]. In this paper the IGM-Mechanism Encyclopaedia and the Digital Mechanism Library will be presented. Both use the possibilities of the internet to make basic and specific knowledge for the analysis and synthesis of mechanisms available to a broad public.

Download Full-text