Two-Configuration Synthesis of Origami-Guided Planar, Spherical and Spatial Revolute–Revolute Chains

2013 ◽  
Vol 5 (3) ◽  
Author(s):  
Kassim Abdul-Sater ◽  
Franz Irlinger ◽  
Tim C. Lueth
Keyword(s):  
Computer Aided Design ◽  
Solar Panels ◽  
Dimensional Synthesis ◽  
Kinematic Synthesis ◽  
Folding Pattern ◽  
Synthesis Procedure ◽  
Configuration Synthesis ◽  
Synthesis Methodology ◽  
Aided Design ◽  
Synthesis Approach

This paper presents a topological and dimensional kinematic synthesis methodology that can be used to constrain the movement of kinematic planar, spherical, and spatial revolute–revolute dyads (RR dyads). The approach is inspired by a subcategory of origami called rigid origami, which deals with highly overconstrained spatial deployable linkages. An example is the Miura-ori folding pattern used to deploy solar panels in space. In addition to this application, this linkage also provides an interesting way to constrain general RR dyads so that they perform a single DOF motion. Here, these mechanisms are called origami-guided RR chains, and computer aided design models (CAD) of the planar, spherical and spatial type are presented. The dimensional synthesis approach allows us to constrain consecutive links using R or C joints so that the links satisfy two arbitrarily predefined task positions. This leads to what we call the two-configuration synthesis of linkages, and we examine a concrete synthesis procedure for an origami-guided spatial RR chain, which is also built using rapid prototyping. The procedure actually combines the two-configuration synthesis approach with the synthesis of the spatial TS dyad, and the paper provides an outlook on further ways to apply the two-configuration synthesis and also to synthesize the origami-guided RR chains.

A Design Implementation Process for Robotic Hand Synthesis

2015 ◽  
Author(s):  
Neda Hassanzadeh ◽  
Xiangwei He ◽  
Alba Perez-Gracia
Keyword(s):  
Computer Aided Design ◽  
Implementation Process ◽  
Robotic Hand ◽  
Dimensional Synthesis ◽  
Robotic Hands ◽  
Detailed Design ◽  
Kinematic Synthesis ◽  
Friction Forces ◽  
Starting Point ◽  
Higher Derivatives

The design of multi-fingered robotic hands can follow a kinematic synthesis approach, in which a trajectory or set of points and higher derivatives are defined for each fingertip. The output of the dimensional synthesis is a set of joint axes, effectively defining the basic kinematic structure of the hand. In the case of spatial motion, there seems to be a big gap between the results of the dimensional synthesis and a real and effective detailed design of the robotic hand, this being one of the reasons why synthesis is not regularly used in the design of robotic hands. This work aims to reduce the gap from kinematic synthesis to detailed, computer-aided design of robotic hands. In order to do so, the output of the dimensional synthesis is first used as the input of a link-based optimization process, aim to bring to reasonable values requirements such as link lengths, internal friction forces and obstacle avoidance, including self-intersection. The optimized results are automatically imported to a popular solid modeling software, creating reference geometry for parts, and joint axes and anchor points for the final hand assembly. At the same time, a database of hand parts is presented to the user to select and adapt in order to create a first realistic assembly of the robotic hand. The output of the process is a first detailed design of the robotic hand, which can be a good starting point for the designer to implement transmission and actuation in further stages.

A General Procedure for Dimensional Synthesis of Mechanisms

1992 ◽  
Author(s):  
Michael Rygaard Hansen
Keyword(s):  
Computer Aided Design ◽  
General Procedure ◽  
Continuation Method ◽  
Dimensional Synthesis ◽  
Cad System ◽  
Strongly Nonlinear ◽  
Synthesis Of Mechanisms ◽  
Kinematic Behaviour ◽  
Definition Of ◽  
Aided Design

Abstract A method for dimensional synthesis of arbitrary planar mechanisms is presented. The method is based on identification of the mutually independent vector loops of the mechanism, and the design equations that fulfil the desired kinematic behaviour are formulated on the basis of these loops. The identification of the branches is done on the basis of a separation of the mechanism into a number of modules (input bodies and Assur groups). As the design equations are strongly nonlinear (involving both dimensions and rotations of bodies), a continuation method is employed for their solution. The method, with the definition and analysis of the initial mechanism, the subdivision of the mechanism into modules, the definition of the desired kinematic behaviour, and the generation and solution of the vector loop equations, has been implemented in a menu-controlled CAD-system called CADME (Computer Aided Design of MEchanisms).

Kinematic Synthesis for Infinitesimally and Multiply Separated Positions Using Geometric Constraint Programming

2014 ◽  
Vol 136 (3) ◽  
Author(s):  
James P. Schmiedeler ◽  
Barrett C. Clark ◽  
Edward C. Kinzel ◽  
Gordon R. Pennock
Keyword(s):  
Undergraduate Students ◽  
Constraint Programming ◽  
Computer Aided Design ◽  
Geometric Constraints ◽  
Geometric Constraint ◽  
Motion Generation ◽  
Planar Mechanisms ◽  
Kinematic Synthesis ◽  
Design Software ◽  
Aided Design

Geometric constraint programming (GCP) is an approach to synthesizing planar mechanisms in the sketching mode of commercial parametric computer-aided design software by imposing geometric constraints using the software's existing graphical user interface. GCP complements the accuracy of analytical methods with the intuition developed from graphical methods. Its applicability to motion generation, function generation, and path generation for finitely separated positions has been previously reported. By implementing existing, well-known theory, this technical brief demonstrates how GCP can be applied to kinematic synthesis for motion generation involving infinitesimally and multiply separated positions. For these cases, the graphically imposed geometric constraints alone will in general not provide a solution, so the designer must parametrically relate dimensions of entities within the graphical construction to achieve designs that automatically update when a defining parameter is altered. For three infinitesimally separated positions, the designer constructs an acceleration polygon to locate the inflection circle defined by the desired motion state. With the inflection circle in place, the designer can rapidly explore the design space using the graphical second Bobillier construction. For multiply separated position problems in which only two infinitesimally separated positions are considered, the designer constrains the instant center of the mechanism to be in the desired location. For example, four-bar linkages are designed using these techniques with three infinitesimally separated positions and two different combinations of four multiply separated positions. The ease of implementing the techniques may make synthesis for infinitesimally and multiply separated positions more accessible to mechanism designers and undergraduate students.

Kinematic Synthesis for Infinitesimally and Multiply Separated Positions Using Geometric Constraint Programming

2011 ◽  
Author(s):  
James P. Schmiedeler ◽  
Barrett C. Clark ◽  
Edward C. Kinzel ◽  
Gordon R. Pennock
Keyword(s):  
Constraint Programming ◽  
Computer Aided Design ◽  
Geometric Constraints ◽  
Geometric Constraint ◽  
Motion Generation ◽  
Planar Mechanisms ◽  
Kinematic Synthesis ◽  
Function Generation ◽  
Design Software ◽  
Aided Design

Geometric Constraint Programming (GCP) is an approach to synthesizing planar mechanisms in the sketching mode of commercial parametric computer-aided design software by imposing geometric constraints using the software’s existing graphical user interface. GCP complements the accuracy of analytical methods with the intuition developed from graphical methods. Its applicability to motion generation, function generation, and path generation for finitely separated positions has been previously reported. This paper demonstrates how GCP can be applied to kinematic synthesis for motion generation involving infinitesimally and multiply separated positions. For these cases, the graphically imposed geometric constraints alone will in general not provide a solution, so the designer must parametrically relate dimensions of entities within the graphical construction to achieve designs that automatically update when a defining parameter is altered. For three infinitesimally separated positions, the designer constructs an acceleration polygon to locate the inflection circle defined by the desired motion state. With the inflection circle in place, the designer can rapidly explore the design space using the graphical second Bobillier construction. For multiply separated position problems in which only two infinitesimally separated positions are considered, the designer constrains the instant center of the mechanism to be in the desired location. Example four-bar linkages are designed using these techniques with three infinitesimally separated positions and two different combinations of four multiply separated positions.

scholarly journals Computer Aided Design of Useful Spherical Watt I Six-Bar Linkages

2013 ◽  
Author(s):  
Kaustubh H. Sonawale ◽  
Alex Arredondo ◽  
J. Michael McCarthy
Keyword(s):  
Computer Aided Design ◽  
Design Procedure ◽  
Software System ◽  
Open Chain ◽  
Kinematic Synthesis ◽  
Computer Aided ◽  
Tolerance Zones ◽  
Task Specification ◽  
Position Synthesis ◽  
Aided Design

This paper presents a software system for the kinematic synthesis of useful spherical Watt I six-bar linkages that can guide a body through five task positions. The design procedure begins with the specification of a spherical 3R open chain that reaches five specified task positions. The six-bar linkage is designed by constraining the 3R spherical chain to the topology of a Watt I spherical six-bar linkage. The CAD software SolidWorks is used to specify the 3R chain and the five spherical task positions. We describe the SolidWorks Add-In MechGen that reads the SolidWorks data and generates candidate linkages. Included in the task specification are tolerance zones that allow random adjustments to the task positions to search for defect-free linkages. An example is provided that demonstrates the five position synthesis of a useful spherical Watt I six-bar linkage.

Dimensional Synthesis of CRR Serial Chains

2003 ◽  
Author(s):  
Alba Perez ◽  
J. M. McCarthy
Keyword(s):  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
Dual Quaternion ◽  
Kinematic Synthesis ◽  
Revolute Joints ◽  
Serial Chain ◽  
In Series ◽  
Synthesis Methodology ◽  
Serial Chains

This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained from the dual quaternion kinematics equations evaluated at a specified set of task positions. In this case, we find that the chain is completely defined by seven task positions. Furthermore, our solution of these equations has yielded 52 candidate designs, so far; there may be more. This synthesis methodology shows promise for the design of constrained serial chains.

Roofing Solar Panels of Planar and Concentrator Designs

2020 ◽  
Vol 9 (4) ◽  
pp. 20-40
Author(s):  
Vladimir Panchenko
Keyword(s):  
Computer Aided Design ◽  
Raw Materials ◽  
Three Dimensional ◽  
Design System ◽  
Solar Panels ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Initial Stage ◽  
The Cost ◽  
Aided Design

Solar roofing panels fulfill both building protective functions and energy generating ones. The composition of the substrate of the solar roofing panel includes secondary raw materials, which has a positive effect on the environment. To increase the electrical efficiency and also to obtain thermal energy in the form of warm water, it was proposed to create a photovoltaic thermal roofing panel. For this purpose, the presented article describes the method of creating a three-dimensional model of solar photovoltaic thermal modules in a computer-aided design system. The article also proposes a method for manufacturing a prototype body for a solar roofing panel, manufactured using additive technologies, which will significantly reduce costs at the initial stage of creating a prototype due to the possibility of operational changes to a three-dimensional model followed by printing a modified and optimized model. To reduce the number of photovoltaic cells and the cost of a solar roofing panel, it is proposed to use a solar concentrator in the panel.

scholarly journals Morphological Synthesis and workspace design for a parallel manipulator with linear actuators

DYNA ◽  
2020 ◽  
Vol 87 (213) ◽  
pp. 129-139
Author(s):  
Carlos Andrés Mesa Montoya ◽  
Hector Fabio Quintero Riaza ◽  
Federico Gutiérrez Madrid
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Cylindrical Shape ◽  
Dimensional Synthesis ◽  
Workspace Analysis ◽  
Transmission Index ◽  
Linear Actuators ◽  
Condition Indices ◽  
Aided Design

This paper addresses the kinematic structure and workspace analysis of a parallel manipulator with linear actuators considering two studies.The first one was based on a morphological synthesis in which a kinematic connections approach was implemented. The set of combinations of joints and links for the desired system and their linkage are illustrated. Finally, the development regarding the conceivable morphologyis detailed, providing three linear degrees of freedom between the mobile and fixed platforms. The second study presented the dimensional synthesis of the manipulator, considering a workspace required and an input transmission index. The geometrical design was based on the maximum inscribed workspace volume; the cylindrical shape radius inscribed on a workspace intersection is also exemplified. The geometric determination of the workspace for the manipulator was demonstrated using computer-aided design. A design result of the Delta as checked with the stiffness and condition indices.

Programming Applications of Computer Aided Design and Layout of the Complex Solar Panels

2013 ◽  
Vol 411-414 ◽  
pp. 1840-1843 ◽  
Author(s):  
Andrey Volkov ◽  
Luiza Sukneva
Keyword(s):  
Renewable Energy ◽  
Power Systems ◽  
Computer Aided Design ◽  
Alternative Energy ◽  
Power Plants ◽  
Renewable Energy Sources ◽  
Energy System ◽  
Local Power ◽  
Solar Panels ◽  
Aided Design

The last few years, most of the western generating companies are investing a lot of money on projects related to alternative energy, including renewable energy sources (RES). Russia is also interested in the development of such projects. This is due to the fact that only 30-35% of the area covered by Russian Unified Energy System (UES), the rest is serviced by power plants operating in standalone mode, or local power systems [. For these areas the development of renewable energy is the most promising.

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