A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary

1995 ◽  
Vol 117 (2A) ◽  
pp. 298-302 ◽  
Author(s):  
M. Ceccarelli
Keyword(s):  
Multiple Solutions ◽  
Algebraic Form ◽  
Open Chain ◽  
Synthesis Algorithm ◽  
New Synthesis ◽  
Algebraic Formulation ◽  
Workspace Boundary

A new synthesis algorithm for general three-revolute open chain manipulators is proposed making use of an algebraic formulation for the workspace boundary. This algebraic form of a synthesis model is used to formulate design equations and to discuss the number and the type of the multiple solutions.

A Synthesis Algorithm of Three-Revolute Manipulators by Means of the Workspace Contour Algebraic Formulation

1992 ◽  
Author(s):  
Marco Ceccarelli
Keyword(s):  
Multiple Solutions ◽  
Algebraic Form ◽  
Open Chain ◽  
Synthesis Algorithm ◽  
Algebraic Formulation

Abstract A synthesis algorithm of general three-revolute open chain manipulators is proposed making use of an algebraic formulation of the workspace contour, which has been deduced in a previous paper. The algebraic form of the synthesis model allows to formulate some algebraic design equations and to discuss the number and the type of the multiple solutions.

Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Locations

2013 ◽  
Author(s):  
Pierre Larochelle
Keyword(s):  
Algebraic Geometry ◽  
Constraint Equation ◽  
Dimensional Synthesis ◽  
Motion Generation ◽  
Planar Mechanisms ◽  
Open Chain ◽  
Synthesis Algorithm ◽  
Kinematic Chains ◽  
Synthesis Technique ◽  
Kinematic Inversion

A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyads rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed locations to yield designs that exactly reach the prescribed pick & place locations while approximating an arbitrary number of guiding locations. The result is a dimensional synthesis technique for mixed exact and approximate motion generation for planar RR dyads. A solution dyad may be directly implemented as a 2R open chain or two solution dyads may be combined to form a planar 4R closed chain; also known as a planar four-bar mechanism. The synthesis algorithm utilizes only algebraic geometry and does not require the use of a numerical optimization algorithm or a metric on planar displacements. Two implementations of the synthesis algorithm are presented; computational and graphical construction. Moreover, the kinematic inversion of the algorithm is also included. An example that demonstrates the synthesis technique is included.

A Formulation for Analytical Design of Telescopic Manipulators with Prescribed Workspace

2012 ◽  
Vol 162 ◽  
pp. 113-120 ◽  
Author(s):  
Marco Ceccarelli
Keyword(s):  
Analytical Design ◽  
Suitable Form ◽  
Algebraic Formulation ◽  
Workspace Boundary

In this paper an algebraic formulation is proposed for designing telescopic manipulators when workspace is prescribed in a suitable form. An algorithm has been outlined by using an algebraic formulation for the workspace boundary.

On the workspace of telescopic manipulators

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 691-696 ◽  
Author(s):  
Marco Ceccarelli
Keyword(s):  
Analytical Procedure ◽  
General Topology ◽  
Algebraic Formulation ◽  
Workspace Boundary

An analytical procedure is proposed for determining the workspace boundary of general telescopic manipulators. The algorithm has been developed by using the Theory of Envelopes providing an algebraic formulation. An analysis of the workspace of telescopic chain has been carried out to emphasize on a general topology and to investigate the effect of link parameters and telescopic stroke.

Identification of the Workspace Boundary Of a General 3-R Manipulator

2005 ◽  
Vol 128 (1) ◽  
pp. 236-242 ◽  
Author(s):  
Erika Ottaviano ◽  
Manfred Husty ◽  
Marco Ceccarelli
Keyword(s):  
Cross Section ◽  
Boundary Surface ◽  
Boundary Curve ◽  
Numerical Examples ◽  
Cartesian Space ◽  
Order Polynomial ◽  
The Cross ◽  
Design Characteristics ◽  
Algebraic Formulation ◽  
Workspace Boundary

In this paper an algebraic formulation is presented for the boundary workspace of 3-R manipulators in Cartesian Space. It is shown that the cross-section boundary curve can be described by a 16th order polynomial as function of radial and axial reaches. The cross-section boundary curve and workspace boundary surface are fully cyclic. Geometric singularities of the curve are identified and characterized. Numerical examples are presented to show the usefulness of the proposed investigation and to classify the design characteristics.

Superoxide induced cyclizations of metallo-2,2'-bidipyrrins

2003 ◽  
Vol 07 (04) ◽  
pp. 214-219 ◽  
Author(s):  
Martin Bröring ◽  
Christian Hell ◽  
Carsten D. Brandt ◽  
Esther Cónsul Tejero
Keyword(s):  
Room Temperature ◽  
Catalytic Amount ◽  
High Yield ◽  
Sodium Peroxide ◽  
Open Chain ◽  
Potassium Superoxide ◽  
New Synthesis

The reaction of the open-chain tetrapyrrolic ligand 2,2'-bidipyrrin with molecular dioxygen in the presence of a catalytic amount of manganese(II)-acetate was found to produce 10,10'-diformyl-2,2'-bidipyrrin with a remarkable selectivity. To identify the active oxidant in this transformation, 2,2'-bidipyrrin was treated with potassium superoxide, sodium peroxide and manganese(III) acetate, respectively, in dry DMF. While superoxide produces the dialdehyde in high yield, the treatment with peroxide or manganese(III) acetate leads to decomposition only. Nickel(II)-, palladium(II)- and copper(II)-2,2'-bidipyrrin were found to undergo macrocyclization reactions when treated with potassium superoxide in dry DMF at room temperature. While the respective 10-oxocorrolates are formed from the nickel(II)- and palladium(II)-2,2'-bidipyrrins, the copper(II) chelate reacts very slowly and yields copper(III) corrole in low yield. The results strongly point to superoxide as the active oxidant in a recently found new synthesis of corroles.

Stereospecific synthesis of tetrahydrobenzisoquinoline derivatives

1983 ◽  
Vol 36 (1) ◽  
pp. 157 ◽  
Author(s):  
E Gellert ◽  
N Kumar ◽  
D Tober
Keyword(s):  
Optically Active ◽  
Stereospecific Synthesis ◽  
Open Chain ◽  
New Synthesis ◽  
Phenanthroindolizidine Alkaloids

A new synthesis of optically active tetrahydrobenzisoquinolines is described. Cyclization of N-aryl- alkylalanines with retention of configuration was achieved by mild intramolecular Friedel-Crafts acylation. The compounds synthesized this way represent simple analogues of phenanthroindolizidine alkaloids. Some features of the n.m.r. spectra of cyclized and open-chain intermediates are discussed.

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