Over-Constrained Mechanisms Derived From RPRP Loops

2018 ◽  
Author(s):  
Kwun-Lon Ting ◽  
Kuan-Lun Hsu
Keyword(s):  
Computer Aided Design ◽  
Random Search ◽  
Modular Approach ◽  
Input Output ◽  
Assembly Strategy ◽  
Revolute Joints ◽  
Computer Aided ◽  
Prismatic Joints ◽  
Aided Design ◽  
Four Bar Linkage

This paper addresses the assembly strategy capable of deriving a family of over-constrained mechanisms systematically. The modular approach is proposed. It treats the topological synthesis of over-constrained mechanisms as a systematical derivation rather than a random search. The result indicates that a family of over-constrained mechanisms can be constructed by combining legitimate modules. A spatial four-bar linkage containing two revolute joints (R) and two prismatic joints (P) is selected as the source-module for the purpose of demonstration. All mechanisms discovered in this paper were modeled and animated with computer aided design (CAD) software and their mobility were validated with input-output equations as well as computer simulations. The assembly strategy can serve as a self-contained library of over-constrained mechanisms.

Overconstrained Mechanisms Derived From RPRP Loops

2018 ◽  
Vol 140 (6) ◽  
Author(s):  
Kuan-Lun Hsu ◽  
Kwun-Lon Ting
Keyword(s):  
Computer Aided Design ◽  
Random Search ◽  
Modular Approach ◽  
Input Output ◽  
Assembly Strategy ◽  
Revolute Joints ◽  
Prismatic Joints ◽  
Overconstrained Mechanisms ◽  
Aided Design ◽  
Four Bar Linkage

This paper addresses the assembly strategy capable of deriving a family of overconstrained mechanisms systematically. The modular approach is proposed. It treats the topological synthesis of overconstrained mechanisms as a systematical derivation rather than a random search. The result indicates that a family of overconstrained mechanisms can be constructed by combining legitimate modules. A spatial four-bar linkage containing two revolute joints (R) and two prismatic joints (P) is selected as the source-module for the purpose of demonstration. All mechanisms discovered in this paper were modeled and animated with computer-aided design (CAD) software and their mobility were validated with input–output equations as well as computer simulations. The assembly strategy can serve as a self-contained library of overconstrained mechanisms.

A New Family of Bricard-Derived Deployable Mechanisms

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Hailin Huang ◽  
Bing Li ◽  
Jianyang Zhu ◽  
Xiaozhi Qi
Keyword(s):  
Large Volume ◽  
Computer Aided Design ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
New Family ◽  
Revolute Joints ◽  
Computer Aided ◽  
Cad Models ◽  
Aided Design

This paper proposes a new family of single degree of freedom (DOF) deployable mechanisms derived from the threefold-symmetric deployable Bricard mechanism. The mobility and geometry of original threefold-symmetric deployable Bricard mechanism is first described, from the mobility characterstic of this mechanism, we show that three alternate revolute joints can be replaced by a class of single DOF deployable mechanisms without changing the single mobility characteristic of the resultant mechanisms, therefore leading to a new family of Bricard-derived deployable mechanisms. The computer-aided design (CAD) models are used to demonstrate these derived novel mechanisms. All these mechanisms can be used as the basic modules for constructing large volume deployable mechanisms.

Dynamic rolling analysis of triangular-bipyramid robot

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 884-897 ◽  
Author(s):  
Yaobin Tian ◽  
Yan-An Yao
Keyword(s):  
Kinematic Analysis ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Step Length ◽  
Computer Aided ◽  
Zero Moment ◽  
Aided Design ◽  
Four Bar Linkage ◽  
Three Degrees Of Freedom ◽  
Rolling Robot

SUMMARYIn this paper a rolling robot resembling the shape of a triangular-bipyramid is proposed. The robot has three degrees of freedom and is formed by connecting two tripod mechanisms with three spherical joints. By kinematic analysis, the robot can be viewed as a planar four-bar linkage. Further, its dynamic rolling ability is discussed by Zero Moment Point (ZMP) analysis. We show that the robot has the capability to roll, adjust its step length, and switch rolling directions. These functions are verified by a series of simulations with a CAD (computer-aided design) model and experiments with a prototype.

Minimization of Inertia-Induced Forces in Spherical Four-Bar Mechanisms. Part 1: The General Spherical Four-Bar Linkage

1983 ◽  
Vol 105 (3) ◽  
pp. 471-477 ◽  
Author(s):  
G. S. Gill ◽  
F. Freudenstein
Keyword(s):  
Quadratic Programming ◽  
Computer Aided Design ◽  
High Speed ◽  
Programming Technique ◽  
Trade Off ◽  
Design Procedures ◽  
Computer Aided ◽  
Aided Design ◽  
Four Bar Linkage ◽  
Input Torque

Computer-aided design procedures have been developed for the optimum mass distribution of the links of high-speed spherical four-bar linkages. The analysis, which includes a quadratic-programming technique, allows an optimum trade-off between shaking forces, shaking moments, bearing reactions, and input-torque fluctuation. The results are illustrated in the case of a Hooke joint and a wobble-plate linkage.

APPréCIE: A Computer Package for the Simulation and Design of Mechanical Grippers

1993 ◽  
Author(s):  
Clément M. Gosselin ◽  
Sylvain Lemieux
Keyword(s):  
Computer Aided Design ◽  
Practical Problem ◽  
Input Output ◽  
Large Database ◽  
Dimensional Changes ◽  
Computer Aided ◽  
Cad Tool ◽  
Aided Design ◽  
Robotic Applications ◽  
Simulation Package

Abstract This paper presents a simulation package developed for the computer-aided design of simple mechanical grippers. The program includes a relatively large database of gripper architectures which can be accessed interactively by the designer. The kinematic analysis of each of the generic architectures has been performed symbolically at the programming stage and explicit expressions of the input-output equations as well as the velocity relationships have been coded. This provides an accurate and fast interactive response. The kinematic dexterity and the gripping index can be plotted and are updated automatically when dimensional changes are made. Finally, a graphic animation of the grippers is available. An example is given here to illustrate the application of the design package to a practical problem. This CAD tool could be of great help in the context of the design of mechanical grippers which is one of the key challenges in advanced robotic applications.

Synthesis of Deployable/Foldable Single Loop Mechanisms With Revolute Joints

2011 ◽  
Vol 3 (3) ◽  
Author(s):  
Zongquan Deng ◽  
Hailin Huang ◽  
Bing Li ◽  
Rongqiang Liu
Keyword(s):  
Computer Aided Design ◽  
Geometric Approach ◽  
Mobility Analysis ◽  
Design Models ◽  
Single Loop ◽  
Kinematic Chains ◽  
Design And Synthesis ◽  
Revolute Joints ◽  
Computer Aided ◽  
Aided Design

This paper presents a geometric approach for design and synthesis of deployable/foldable single loop mechanisms with pure revolute joints. The basic kinematic chains with symmetric mobility are first synthesized, and an intuitive geometric method is proposed for the mobility analysis of these kinematic chains. The deployable/foldable single loop mechanisms can be regarded as a combination of the basic kinematic chains with nontrivial mobility intersection, under this approach, the 5R to 8R single loop mechanisms with symmetric mobility are synthesized systematically. The method for determining the positions of the joint axes on polyhedral links is also proposed, so that the mechanism can be fully deployed or fully folded without suffering from physical interference. Under this framework, a class of novel deployable/foldable single loop mechanisms is developed. The computer-aided design models for typical examples are built to illustrate their feasibility.

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