OPTIMAL SYNTHESIS OF ADJUSTABLE CRANK-ROCKER LINKAGES FOR CONTINUOUS PATH GENERATION

2000 ◽  
Vol 36 (11) ◽  
pp. 19 ◽  
Author(s):  
Hong Zhou
Keyword(s):  
Optimal Synthesis ◽  
Path Generation ◽  
Continuous Path

Optimal Synthesis of Adjustable Linkages for Precise Continuous Path Generation Using the Optimal Link Length Adjustment

2008 ◽  
Author(s):  
Hong Zhou ◽  
Mohammed Jamal ◽  
Arif Mohammed
Keyword(s):  
Genetic Algorithm ◽  
Penalty Method ◽  
Optimal Solution ◽  
Optimal Synthesis ◽  
Path Generation ◽  
Continuous Path ◽  
Link Length ◽  
Global Optimal Solution ◽  
Global Optimal ◽  
Synthesis Approach

Conventional nonadjustable four-bar linkages can only generate the desired continuous paths approximately. With one link length adjustment, the whole desired continuous path can be generated precisely. In this paper, the length of the driven side link or coupler is adjusted to generate the desired continuous paths precisely. The linkage feasibility conditions and path generation flexibilities of the adjustable four-bar linkages are analyzed. The optimal synthesis model of adjustable four-bar linkages is established based on the required optimal link length adjustment when the desired continuous path is precisely generated. The global optimal solution is searched by a real-valued genetic algorithm in which the involved constraints are handled using the function penalty method. The effectiveness of the optimal synthesis approach proposed in the paper is verified by the demonstrated examples.

Continuous Path Generation with Precise Control of Velocity and Orientation for Industrial Robots

CIRP Annals ◽  
1985 ◽  
Vol 34 (1) ◽  
pp. 511-514 ◽  
Author(s):  
Y. Mizugaki ◽  
H. Hiraoka ◽  
F. Kimura ◽  
T. Sata
Keyword(s):  
Industrial Robots ◽  
Path Generation ◽  
Continuous Path ◽  
Precise Control

Pareto optimal synthesis of four-bar mechanisms for path generation

2009 ◽  
Vol 44 (1) ◽  
pp. 180-191 ◽  
Author(s):  
N. Nariman-Zadeh ◽  
M. Felezi ◽  
A. Jamali ◽  
M. Ganji
Keyword(s):  
Optimal Synthesis ◽  
Pareto Optimal ◽  
Path Generation

Time-suboptimal quasi-continuous path generation for industrial robots

Robotica ◽  
1989 ◽  
Vol 7 (4) ◽  
pp. 297-302 ◽  
Author(s):  
I. Troch
Keyword(s):  
Configuration Space ◽  
Computation Time ◽  
Industrial Robots ◽  
Minimum Time ◽  
Moderate Increase ◽  
Path Generation ◽  
Continuous Path ◽  
Smooth Path ◽  
The Given

SUMMARYThe problem of constructing a smooth path with respect to time through N given points in configuration space is considered. Two variants of an algorithm suggested by Paul are presented and evaluated. It is shown that the algorithms suggested in this paper yield in general considerable improvements in two respects: Firstly, the deviation of the resulting path from the given points is reduced markedly and secondly, the overall time needed for the movement is reduced significantly and consequently, is closer to the true minimum-time. The price to be paid for these improvements is a moderate increase of computation time allowing still online use of the algorithm.

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