Assembly Configurations and Branches of Planar Single-Input Dyadic Mechanisms

1998 ◽  
Vol 120 (3) ◽  
pp. 381-386 ◽  
Author(s):  
D. E. Foster ◽  
R. J. Cipra
Keyword(s):  
Degree Of Freedom ◽  
Graphical Interpretation ◽  
Single Input ◽  
Sliding Joints

This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, and branches of planar single-input dyadic (SID) mechanisms which have links with pin joints and sliding joints. An SID mechanism is a multiloop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom after each loop is added. A method is given to find the ACs of such a mechanism. The emphasis is on using graphical interpretation to determine the mobility regions of the mechanism which are preserved when each new loop is added to the mechanism. This method of interpretation is readily automated. Each AC can be represented as a set of instructions for the input link to follow, along with a list of dyad configurations for each instruction. Each instruction corresponds to a branch of the mechanism. Examples are given to demonstrate the use of this method.

Assembly Configurations and Branches of Planar Single-Input Dyadic Mechanisms

1996 ◽  
Author(s):  
David E. Foster ◽  
Raymond J. Cipra
Keyword(s):  
Degree Of Freedom ◽  
Graphical Interpretation ◽  
Single Input ◽  
Sliding Joints

Abstract This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, of planar single-input dyadic (SID) mechanisms which have links with pin joints and sliding joints. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom after each loop is added. A method is given to find the ACs of such a mechanism. The emphasis is on using graphical interpretation to determine the mobility regions of the mechanism which are preserved when each new loop is added to the mechanism. This method of interpretation is readily automated. Each AC can be represented as a set of instructions for the input link to follow, along with a list of dyad configurations for each instruction. Each instruction corresponds to a branch of the mechanism. Examples are given to demonstrate the use of this method.

Assembly Configurations of Planar Non-Single-Input-Dyadic Mechanisms

1997 ◽  
Author(s):  
David E. Foster ◽  
Raymond J. Cipra
Keyword(s):  
Degree Of Freedom ◽  
Graphical Interpretation ◽  
Single Input

Abstract This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion, i.e. it does not have one DOF after each loop is added. This includes all multi-DOF mechanisms, as well as some complex single-DOF mechanisms. The number of ACs of an NSID mechanism may be determined by defining the mechanism one loop at a time. The emphasis in this paper is on using graphical interpretation to determine the mobility regions of the mechanism which are preserved when each new loop is added to the mechanism. Several examples are given to demonstrate the use of this method, spanning the simpler NSID mechanisms, up to the three-loop, eight-bar linkage. The scope of this method includes mechanisms for which there are never more than 2 DOF when any loop is added. Only mechanisms with pin joints are considered in this paper.

An Automatic Method for Finding the Assembly Configurations of Planar Non-Single-Input-Dyadic Mechanisms

1999 ◽  
Vol 124 (1) ◽  
pp. 58-67 ◽  
Author(s):  
D. E. Foster ◽  
R. J. Cipra
Keyword(s):  
Degree Of Freedom ◽  
Automatic Method ◽  
Automated Method ◽  
Single Input ◽  
Sliding Joints

This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion. This includes all multi-DOF mechanisms, and some complex single-DOF mechanisms. An automatic method is presented which allows a computer to determine the ACs of an NSID mechanism. For single-DOF mechanisms, the ACs are represented by curves drawn in a plane represented by two joint variables. For multi-DOF mechanisms, the ACs consist of one or more regions in the plane, which are defined by the curves that bound them. The automated method finds these bounding curves, and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered.

An Automatic Method for Finding the Assembly Configurations of Planar Non-Single-Input-Dyadic Mechanisms

1999 ◽  
Author(s):  
David E. Foster ◽  
Raymond J. Cipra
Keyword(s):  
Degree Of Freedom ◽  
Automatic Method ◽  
Automated Method ◽  
Single Input ◽  
Sliding Joints

Abstract This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion. This includes all multi-DOF mechanisms, and some complex single-DOF mechanisms. An automatic, method is presented which allows a computer to determine the ACs of an NSID mechanism. For single-DOF mechanisms, the ACs are represented by curves drawn in a plane represented by two joint variables. For multi-DOF mechanisms, the ACs consist of one or more regions in the plane, which are defined by the curves that bound, them. The automated method finds these bounding curves, and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered.

Synthesizing Control Systems for Multi-Degree of Freedom Manipulators

1996 ◽  
Vol 210 (1) ◽  
pp. 45-50
Author(s):  
B S Dalay ◽  
V S Medvedev ◽  
T A Romanova
Keyword(s):  
Control System ◽  
Control Systems ◽  
Characteristic Equation ◽  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Degree Of Freedom ◽  
Output Control ◽  
Single Output ◽  
Single Input ◽  
Control System Synthesis

Methods of analysing single input and single output control systems are well established (1). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.

Approximating power for significance tests with one degree of freedom.

1997 ◽  
Vol 2 (2) ◽  
pp. 186-191 ◽  
Author(s):  
William P. Dunlap ◽  
Leann Myers
Keyword(s):  
Degree Of Freedom ◽  
Significance Tests
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