Composition Principle Based on Single-Open-Chain Unit for General Spatial Mechanisms and Its Application—In Conjunction With a Review of Development of Mechanism Composition Principles

2018 ◽  
Vol 10 (5) ◽  
Author(s):  
Ting-Li Yang ◽  
Anxin Liu ◽  
Huiping Shen ◽  
Lubin Hang ◽  
Qiaode Jeffery Ge
Keyword(s):  
Dynamic Analysis ◽  
General Procedure ◽  
Planar Mechanisms ◽  
Open Chain ◽  
Kinematic Chains ◽  
Spatial Mechanism ◽  
Spatial Mechanisms ◽  
Structure Synthesis ◽  
General Method ◽  
Dimension Number

Based on the general degree-of-freedom (DOF) formula for spatial mechanisms proposed by the author in 2012, the early single open chain (SOC)-based composition principle for planar mechanisms is extended to general spatial mechanisms in this paper. First, three types of existing mechanism composition principle and their characteristics are briefly discussed. Then, the SOC-based composition principle for general spatial mechanisms is introduced. According to this composition principle, a spatial mechanism is first decomposed into Assur kinematic chains (AKCs) and an AKC is then further decomposed into a group of ordered SOCs. Kinematic (dynamic) analysis of a spatial mechanism can then be reduced to kinematic (dynamic) analysis of AKCs and finally to kinematic (dynamic) analysis of ordered SOCs. The general procedure for decomposing the mechanism into ordered SOCs and the general method for determining AKC(s) contained in the mechanism are also given. Mechanism's kinematic (dynamic) analysis can be reduced to the lowest dimension (number of unknowns) directly at the topological structure level using the SOC-based composition principle. The SOC-based composition principle provides a theoretical basis for the establishment of a unified SOC-based method for structure synthesis and kinematic (dynamic) analysis of general spatial mechanisms.

Dynamic Modeling of Planar Closed-Loop Kinematic Chains Based on an Instantaneously Unconstrained Energy Equivalence Scheme

1991 ◽  
Author(s):  
Chieng-Liang Lai ◽  
Wei-Hua Chieng ◽  
David A. Hoeltzel
Keyword(s):  
Dynamic Analysis ◽  
Computing Time ◽  
Salient Feature ◽  
Planar Mechanisms ◽  
New Approach ◽  
Kinematic Constraints ◽  
Kinematic Chains ◽  
Spatial Mechanisms ◽  
Energy Equivalence ◽  
Conventional Solution

Abstract Traditional Euler-Lagrange methods for the dynamic analysis of kinematic chains require repetitive calculation of the kinematic constraints. This becomes very inefficient as the number of joints (or kinematic constraints) increases. This paper presents a new approach for the dynamic analysis of constrained dynamic systems. The salient feature of this approach is the separation of the kinematic analysis from the dynamic analysis. Following this separation, the resulting dynamic system becomes instantaneously unconstrained. While the discussion is mainly oriented towards the analysis of planar mechanisms, the model can be readily extended to the analysis of spatial mechanisms. A methodology for computer-aided symbolic derivation of the dynamic equations based on this approach is presented, and a numerical example which demonstrates a significant reduction in computing time for the dynamic analysis of a planar mechanism, as compared with conventional solution approaches, is provided.

A New Method and Automatic Generation for Dynamic Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains

1994 ◽  
Author(s):  
Jian-Qing Zhang ◽  
Ting-Li Yang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Equation ◽  
Automatic Generation ◽  
The Other ◽  
New Method ◽  
Complex Mechanism ◽  
Planar Mechanisms ◽  
Spatial Mechanisms ◽  
General Dynamic

Abstract This work presents a new method for kinetostatic analysis and dynamic analysis of complex planar mechanisms, i.e. the ordered single-opened-chains method. This method makes use of the ordered single-opened chains (in short, SOC,) along with the properties of SOC, and the network constraints relationship between SOC,. By this method, any planar complex mechanism can be automatically decomposed into a series of the ordered single-opened chains and the optimal structural decomposition route (s) can be automatically selected for dynamic analysis, the paper present the dynamic equation which can be used to solve both the kinetostatic problem and the general dynamic problem. The main advantage of the proposed approach is the possibility to reduce the number of equations to be solved simultaneously to the minimum, and its high automation as well. The other advantage is the simplification of the determination of the coefficients in the equations, and thus it maybe result in a much less time-consuming algorthem. The proposed approach is illustrated with three examples. The presented method can be easily extended to the dynamic analysis of spatial mechanisms.

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.

An Approach for Dynamic Analysis of Mechanical Systems with Multiple Clearances Using Lagrangian Mechanics

1983 ◽  
Vol 197 (1) ◽  
pp. 17-23 ◽  
Author(s):  
B M Bahgat ◽  
M O M Osman ◽  
T S Sankar
Keyword(s):  
Dynamic Analysis ◽  
General Procedure ◽  
Mechanical Systems ◽  
Lagrangian Mechanics ◽  
Governing Equations ◽  
Planar Mechanisms ◽  
Clearance Angle ◽  
Crank Mechanism

The paper develops a general procedure for the dynamic analysis of planar mechanisms with multiple clearance. The analysis mainly relies on determining the clearance angles βi at mechanism revolutes for each phase of the analysis. The governing equations of each clearance angle are developed using Lagrangian mechanics. The solution is obtained in the form of sufficient number of harmonic terms and used to evaluate systematically kinematic and dynamic quantities of the mechanism. A slider-crank mechanism with three revolute clearances is analysed to illustrate the procedure.

The Establishment of Novel Structure Representation Models for Several Kinds of Mechanisms

2009 ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Zhen Huang
Keyword(s):  
Topological Graph ◽  
Planar Mechanisms ◽  
Topological Graphs ◽  
Structure Representation ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mathematical Representations ◽  
Novel Structure ◽  
Structure Synthesis ◽  
Topological Models

This paper attempts to establish the unified topological models and corresponding mathematical representations for planar simple joint, multiple joint and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological graph of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to do unified structure synthesis and further establish conceptual design platform for various planar mechanisms of these kinds.

On the Dynamic Analysis of Planar Mechanisms with Multiple Clearances

1983 ◽  
Vol 197 (2) ◽  
pp. 89-95 ◽  
Author(s):  
M O M Osman ◽  
B M Bahgat ◽  
T S Sankar
Keyword(s):  
Dynamic Analysis ◽  
Normal Force ◽  
General Procedure ◽  
Governing Equations ◽  
Planar Mechanisms ◽  
Motion Mechanism ◽  
Clearance Angle ◽  
Second Derivatives ◽  
The Common

The paper develops a general procedure for the dynamic analysis of planar mechanisms with multiple clearance. The analysis mainly relies on determining the clearance angles Bij its first and second derivatives. The governing equations of each clearance angle are developed on the condition that the variations in displacements and velocities due to clearance effect are very small and could be ignored. Also, the equations governing these clearance angles are developed such that the common normal at the point of contact at each clearance connection coincides with the direction of the clearance eccentricity vector which has the same direction of the normal force at the point of contact. A quick-return motion mechanism with seven clearances is considered to illustrate the procedure.

scholarly journals Kinematic and dynamic analysis and distribution of stress for seven-item mechanism by means of the SolidWorks program

2021 ◽  
Vol 1199 (1) ◽  
pp. 012076
Author(s):  
J Vavro ◽  
J Vavro ◽  
L Marček ◽  
M Taraba ◽  
L Klimek
Keyword(s):  
Dynamic Analysis ◽  
Kinematic Analysis ◽  
Planar Mechanisms ◽  
Vector Method ◽  
Planar Mechanism ◽  
Spatial Mechanisms ◽  
Software Program ◽  
The Individual ◽  
Distribution Of Stress ◽  
The Given

Abstract This paper presents a kinematic and dynamic analysis and distribution of the stress for seven-item planar mechanism by means of the SolidWorks software. The authors of the introduced paper deal with the kinematic analysis of planar mechanisms as well as with the implementation of the vector method into the SolidWorks software program in order to determine the kinematic variables (quantities) of the individual bodies in the whole complex system. The dynamic analysis is performed on the basis of the kinematic analysis. Dynamic analysis allows us to design a system of bodies correctly and it is with the respect to the dynamic loading. For the interpretation of the introduced analysis, the seven-item planar mechanism was selected. Graphic dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving item and in dependence on time. In relation to the kinematic and dynamic analysis and subsequent simulation of the planar as well as spatial mechanisms, it is perfect solution to use SolidWorks software program. The considerable advantage of this mentioned program is based on its simplicity from the aspect of modeling and moreover, it is important to point out that utilisation of the mentioned program leads to results which are precise and accurate in the case of the numerical solution of the equations in the whole magnitude referring to motion of mechanism while the given results are obtained in the graphic form.

A Dynamic Analysis of a Spatial Mechanism With a Passive Degree of Freedom

1989 ◽  
Vol 111 (2) ◽  
pp. 238-242 ◽  
Author(s):  
C. H. Suh ◽  
H. Y. Kang
Keyword(s):  
Dynamic Analysis ◽  
Equations Of Motion ◽  
Degree Of Freedom ◽  
Displacement Velocity ◽  
Spatial Mechanism ◽  
Spatial Mechanisms ◽  
Euler’S Equations ◽  
Kinematic Method ◽  
Euler's Equations

A method is developed for kinematic and dynamic analysis of a spatial mechanisms that has one or more links with a passive degree of freedom. The Sphere-Sphere (SS) link, the most commonly known link having a passive degree of freedom, is investigated to develop in detail displacement, velocity, and acceleration matrices for complete kinematics. The dynamic analysis of the RSSR mechanism is presented as an example, using the developed kinematic method for SS links and Euler’s equations of motion.

Unified Topological Representation Models of Planar Kinematic Chains

2009 ◽  
Vol 131 (11) ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Zhen Huang
Keyword(s):  
Conceptual Design ◽  
Topological Representation ◽  
Topological Graph ◽  
Planar Mechanisms ◽  
Topological Graphs ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mathematical Representations ◽  
Structure Synthesis ◽  
Topological Models

This paper attempts to establish unified topological models and corresponding mathematical representations for planar simple joint, multiple joint, and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then, new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological model of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to undertake unified structure synthesis and further to establish conceptual design platform for various planar mechanisms. Synthesis examples of both multiple joint and geared chains are given, which show the effectiveness of the unified topological models.

scholarly journals Kinematic and dynamic analysis and distribution of stress for six-item mechanism by means of the SolidWorks program

2021 ◽  
Vol 1199 (1) ◽  
pp. 012047
Author(s):  
J Vavro ◽  
J Vavro ◽  
L Marček ◽  
M Taraba ◽  
L Klimek
Keyword(s):  
Dynamic Analysis ◽  
Kinematic Analysis ◽  
Planar Mechanisms ◽  
Vector Method ◽  
Planar Mechanism ◽  
Spatial Mechanisms ◽  
Software Program ◽  
The Individual ◽  
Distribution Of Stress ◽  
The Given

Abstract This paper presents a kinematic and dynamic analysis and distribution of the stress for six-item planar mechanism by means of the SolidWorks software. The main purpose of the investigation is connected with the kinematic analysis of planar mechanisms as well as with the implementation of the vector method into the SolidWorks software program in order to determine the kinematic variables of the individual bodies in the whole investigated system. The process of the dynamic analysis is based on the kinematic analysis. The dynamic analysis makes possible to design a system of bodies correctly and it is with the respect to the dynamic loading. For the interpretation of the introduced analysis, the six-item planar mechanism was used as example (representative). Graphic dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving item and in dependence on time. In relation to the kinematic and dynamic analysis and subsequent simulation of the planar as well as spatial mechanisms, it is great solution to use SolidWorks software program. The considerable advantage of this mentioned program is based on its simplicity from the aspect of modeling and moreover, it is important to point out that utilisation of the mentioned program leads to results which are precise and accurate in the case of the numerical solution of the equations in the whole magnitude referring to motion of mechanism while the given results are obtained in the graphic form.

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