Analysis and Synthesis of Linear Transmission Mechanisms: Coupled Mechanisms and Mechanisms Wth Prismatic Joints

1994 ◽  
Author(s):  
Sun-Lai Chang
Keyword(s):  
Open Loop ◽  
Joint Motion ◽  
Transmission Mechanisms ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
Prismatic Joints ◽  
Application Potential ◽  
Loop Chain

Abstract The characteristics of linear transmission mechanisms are studied. Using the characteristics, the kinematic and synthesis of linear transmission mechanisms are expanded. First, the synthesis of mechanisms with prismatic joints in the equivalent open-loop chain is developed. Then the kinematics and synthesis of mechanisms with coupled joint motion are also derived. Two coupled mechanisms are used as examples to demonstrate the application potential in the industry.

Mobility of Single-Loop N-Bar Linkage With Active/Passive Prismatic Joints

2005 ◽  
Vol 128 (6) ◽  
pp. 1261-1271 ◽  
Author(s):  
W. Z. Guo ◽  
R. Du
Keyword(s):  
Open Loop ◽  
Class Iii ◽  
Active Joint ◽  
Revolute Joint ◽  
Single Loop ◽  
Prismatic Joint ◽  
Passive Joint ◽  
Offset Distance ◽  
Prismatic Joints ◽  
Planar Linkages

Single-loop N-bar linkages that contain one prismatic joint are common in engineering. This type of mechanism often requires complicated control and, hence, understanding its mobility is very important. This paper presents a systematic study on the mobility of this type of mechanism by introducing the concept of virtual link. It is found that this type of mechanism can be divided into three categories: Class I, Class II, and Class III. For each category, the slide reachable range is cut into different regions: Grashof region, non-Grashof region, and change-point region. In each region, the rotation range of the revolute joint or rotatability of the linkage can be determined based on Ting’s criteria. The characteristics charts are given to describe the rotatability condition. Furthermore, if the prismatic joint is an active joint, the revolvability of the input revolute joint is dependent in non-Grashof region but independent in other regions. If the prismatic joint is a passive joint, the revolvability of the input revolute joint is dependent on the offset distance of the prismatic joint. Two examples are given to demonstrate the presented method. The new method is able to cover all the cases of N-bar planar linkages with one or a set of adjoined prismatic joints. It can also be used to study N-bar open-loop planar robotic mechanisms.

REPRESENTATIONS AND IDENTIFICATIONS OF STRUCTURAL AND MOTION STATE CHARACTERISTICS OF MECHANISMS WITH VARIABLE TOPOLOGIES

2006 ◽  
Vol 30 (1) ◽  
pp. 19-40 ◽  
Author(s):  
Hong-Sen Yan ◽  
Chin-Hsing Kuo
Keyword(s):  
Topological Structure ◽  
Topological Analysis ◽  
State Machines ◽  
Matrix Representations ◽  
Motion State ◽  
New Concepts ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
Finite State ◽  
State Graphs

A mechanism that encounters a certain changes in its topological structure during operation is called a mechanism with variable topologies (MVT). This paper is developed for the structural and motion state representations and identifications of MVTs. For representing the topological structures of MVTs, a set of methods including graph and matrix representations is proposed. For representing the motion state characteristics of MVTs, the idea of finite-state machines is employed via the state tables and state graphs. And, two new concepts, the topological homomorphism and motion homomorphism, are proposed for the identifications of structural and motion state characteristics of MVTs. The results of this work provide a logical foundation for the topological analysis and synthesis of mechanisms with variable topologies.

scholarly journals Analysis and Synthesis of Mechanisms with Bars and Gears Used in Robots and Manipulators

2017 ◽  
Author(s):  
Relly Victoria mname Petrescu ◽  
Raffaella mname Aversa ◽  
Antonio mname Apicella ◽  
MirMilad mname Mirsayar ◽  
Samuel mname Kozaitis ◽  
...  
Keyword(s):  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis

Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators

1995 ◽  
Vol 117 (B) ◽  
pp. 71-79 ◽  
Author(s):  
M. Raghavan ◽  
B. Roth
Keyword(s):  
Kinematic Analysis ◽  
State Of The Art ◽  
Polynomial Systems ◽  
The State ◽  
Polynomial Equations ◽  
Systems Of Equations ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
Systems Of Polynomial Equations ◽  
And Robotics

Problems in mechanisms analysis and synthesis and robotics lead naturally to systems of polynomial equations. This paper reviews the state of the art in the solution of such systems of equations. Three well-known methods for solving systems of polynomial equations, viz., Dialytic Elimination, Polynomial Continuation, and Grobner bases are reviewed. The methods are illustrated by means of simple examples. We also review important kinematic analysis and synthesis problems and their solutions using these mathematical procedures.

Dynamic Analysis of Noncollocated Flexible Arms and Design of Torque Transmission Mechanisms

1994 ◽  
Vol 116 (2) ◽  
pp. 201-207 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Design Guidelines ◽  
Phase System ◽  
Nonminimum Phase ◽  
Transmission Mechanisms ◽  
Flexible Arm ◽  
Torque Transmission ◽  
Endpoint Control ◽  
Flexible Arms

A new actuation method for one-link flexible arms is presented. The endpoint control of a flexible arm has been known as a nonminimum phase system due to the noncollocated sensor and actuator. By relocating the actuator near the endpoint, the system can be modified to approximate a minimum phase system. In order to implement this, transmission mechanisms are developed which transform the actuator torque to a combination of force and torque and transmit them to an appropriate point on the arm link. Exact pole-zero configurations are analyzed with regard to the location of the actuation point and the type of actuator used. Guidelines for design of the transmission mechanisms and the actuation points are developed with respect to the operation bandwidth, stability and controllability. A prototype flexible arm is designed based on the design guidelines and open-loop and closed-loop tests are performed to verify the effectiveness.

A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechanisms

1972 ◽  
Vol 94 (4) ◽  
pp. 1193-1205 ◽  
Author(s):  
A. G. Erdman ◽  
G. N. Sandor ◽  
R. G. Oakberg
Keyword(s):  
Dynamic Error ◽  
Viscous Friction ◽  
Body Motion ◽  
Analysis Technique ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
External Loads ◽  
System Inertia ◽  
General Method ◽  
Internal Body

Kineto-elastodynamics is the study of the motion of mechanisms consisting of elements which may deflect due to external loads or internal body forces. This paper describes the initial phases in the development of a general method of kineto-elastodynamic analysis and synthesis based on the flexibility approach of structural analysis, which may be applied to any planar or spatial mechanism. Dynamic error is investigated due to flexural, longitudinal, and torsional element strain, and system inertia fluctuations; the treatment of Coulomb and viscous friction is indicated. Kineto-Elastodynamic Stretch Rotation Operators are derived which will rotate and stretch both planar and spatial link vectors reflecting rigid body motion plus elastic deformations of the link. A numerical example is presented to demonstrate the elastodynamic analysis technique.

scholarly journals Kinematic Analysis and Synthesis of Mechanisms

2021 ◽  
Author(s):  
Asok Kumar Mallik ◽  
Amitabha Ghosh ◽  
Günter Dittrich
Keyword(s):  
Kinematic Analysis ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis

scholarly journals KINEMATICS OF THE V MECHANISM USED FORELECTRIC SWITCHERS BASED ON SPECIALISED SOFTWARE

2016 ◽  
Vol 21 (3) ◽  
Author(s):  
ANTONESCU PĂUN ◽  
UNGUREANU LIVIU-MARIAN ◽  
BREZEANU COSTANTIN
Keyword(s):  
Graphical Analysis ◽  
Geometrical Analysis ◽  
Analysis Software ◽  
Graphical Modeling ◽  
Modeling And Analysis ◽  
Doctoral Thesis ◽  
Synthesis Of Mechanisms ◽  
Analysis And Synthesis ◽  
The Mathematical Model ◽  
Mechanism Kinematic

This paper is representing a continuing research of the doctoral thesis "Geometrical analysis and synthesis of mechanisms in the electrotechnical field". Using two Mathcad programs as mathematics analysis software and Solidworks as graphical analysis software it is dimensioned the new kinematics scheme of the high voltage V mechanism. Kinematic analysis is based on the mathematical model presented in the doctoral thesis mentioned above and graphical modeling and analysis is conducted to compare and complete the research regarding the V mechanism triadic chain 5R + T type.

scholarly journals Development and Experimental Validation of an Adaptive, Piston-Damage-Based Combustion Control System for SI Engines: Part 2—Implementation of Adaptive Strategies

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5342
Author(s):  
Alessandro Brusa ◽  
Nicolò Cavina ◽  
Nahuel Rojo ◽  
Jacopo Mecagni ◽  
Enrico Corti ◽  
...  
Keyword(s):  
Closed Loop ◽  
Adaptive Strategies ◽  
Open Loop ◽  
Combustion Model ◽  
Phase Index ◽  
Spark Timing ◽  
Combustion Phase ◽  
Rapid Control Prototyping ◽  
Si Engines ◽  
Loop Chain

This work focuses on the implementation of innovative adaptive strategies and a closed-loop chain in a piston-damage-based combustion controller. In the previous paper (Part 1), implemented models and the open loop algorithm are described and validated by reproducing some vehicle maneuvers at the engine test cell. Such controller is further improved by implementing self-learning algorithms based on the analytical formulations of knock and the combustion model, to update the fuel Research Octane Number (RON) and the relationship between the combustion phase and the spark timing in real-time. These strategies are based on the availability of an on-board indicating system for the estimation of both the knock intensity and the combustion phase index. The equations used to develop the adaptive strategies are described in detail. A closed-loop chain is then added, and the complete controller is finally implemented in a Rapid Control Prototyping (RCP) device. The controller is validated with specific tests defined to verify the robustness and the accuracy of the adaptive strategies. Results of the online validation process are presented in the last part of the paper and the accuracy of the complete controller is finally demonstrated. Indeed, error between the cyclic and the target combustion phase index is within the range ±0.5 Crank Angle degrees (°CA), while the error between the measured and the calculated maximum in-cylinder pressure is included in the range ±5 bar, even when fuel RON or spark advance map is changing.

A Quadratic Form-Based Approach to Identification of Kinematic Chains in Structural Analysis and Synthesis of Mechanisms

2001 ◽  
Author(s):  
Peiren He ◽  
Wenjun Zhang ◽  
Qing Li
Keyword(s):  
Structural Analysis ◽  
Quadratic Form ◽  
Test Cases ◽  
Eigenvalues And Eigenvectors ◽  
New Approach ◽  
Kinematic Chains ◽  
Synthesis Of Mechanisms ◽  
Adjacency Matrices ◽  
Analysis And Synthesis

Abstract Identification of kinematic chains is needed when studying in structural analysis and synthesis of mechanisms. Research on detection of isomorphism in graphs/kinematic chains has a long history. Many algorithms or methods have been proposed. However, these methods have only achieved success in restricted conditions. This paper proposes a new approach using the concept of quadratic form. Graphs/kinematic chains are first represented by their adjacency matrices, the eigenvalues and their eigenvectors corresponding to these adjacency matrices are then calculated. Two graphs are represented by two quadratic expressions. The comparison of two graphs reduces to the comparison of two quadratic expressions. Quadratic expressions are characterized by the eigenvalues and eigenvectors. An algorithm is developed to compare, correspondingly, eigenvalues and eigenvectors of two graphs, known test cases are used to verify the effectiveness of the approach.

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