Graphical Linkage Synthesis Using SOLIDWORKS®

2018 ◽  
pp. 43-78
Author(s):  
Eric Constans ◽  
Karl B. Dyer
Keyword(s):  
Linkage Synthesis

A Simple Synthesis Method for Spherical 4R Linkages Reaching Four Positions

2011 ◽  
Vol 199-200 ◽  
pp. 1236-1239 ◽  
Author(s):  
Tong Yang ◽  
Jian You Han ◽  
Lai Rong Yin
Keyword(s):  
Matrix Method ◽  
Synthesis Method ◽  
Simple Synthesis ◽  
Simple Derivation ◽  
Derivation Method ◽  
Curve Equation ◽  
Linkage Synthesis

For spherical 4R linkage synthesis reaching four specified task positions, we introduce a simple derivation method of spherical Burmester curve equation by employing a displacement matrix method. Then we presented a method to calculate the coordinates of circle and center points, so the spherical Burmester curves can be drawn by the software developed.

Clifford Algebra Exponentials and Planar Linkage Synthesis Equations

2004 ◽  
Vol 127 (5) ◽  
pp. 931-940 ◽  
Author(s):  
Alba Perez ◽  
J. Michael McCarthy
Keyword(s):  
Clifford Algebra ◽  
Standard Form ◽  
Algebraic Manipulation ◽  
Algebraic Solution ◽  
Linkage Design ◽  
Serial Chain ◽  
The Matrix ◽  
Basic Equations ◽  
Serial Chains ◽  
Linkage Synthesis

This paper uses the exponential defined on a Clifford algebra of planar projective space to show that the “standard-form” design equations used for planar linkage synthesis are obtained directly from the relative kinematics equations of the chain. The relative kinematics equations of a serial chain appear in the matrix exponential formulation of the kinematics equations for a robot. We show that formulating these same equations using a Clifford algebra yields design equations that include the joint variables in a way that is convenient for algebraic manipulation. The result is a single formulation that yields the design equations for planar 2R dyads, 3R triads, and nR single degree-of-freedom coupled serial chains and facilitates the algebraic solution of these equations including the inverse kinematics of the chain. These results link the basic equations of planar linkage design to standard techniques in robotics.

scholarly journals Four-Bar Linkage Synthesis Using Non-convex Optimization

2016 ◽  
pp. 618-635 ◽  
Author(s):  
Vincent Goulet ◽  
Wei Li ◽  
Hyunmin Cheong ◽  
Francesco Iorio ◽  
Claude-Guy Quimper
Keyword(s):  
Convex Optimization ◽  
Four Bar Linkage ◽  
Linkage Synthesis

Maximum Entropy Method for Optimal Linkage Function Generation

1996 ◽  
Author(s):  
Xinsheng Hu ◽  
Ji Zhou ◽  
Jun Yu ◽  
Baochang Shi ◽  
Zhijian Zong
Keyword(s):  
Maximum Entropy ◽  
Numerical Experiments ◽  
Maximum Entropy Method ◽  
Entropy Method ◽  
Function Generation ◽  
Standard Software ◽  
Linkage Synthesis

Abstract A new algorithm for solving optimal linkage function generation is proposed. The algorithm is simple in form, easily used and has much reliability and accuracy than any other algorithms reported on linkage synthesis. The existing standard software of unconstrained differential optimization can directly be used in it. Numerical experiments indicate the effectiveness of the new algorithm.

SIXPAQ: A Comprehensive Software Package for Analysis and Synthesis of Six-Bar Dwell Linkages

1991 ◽  
Author(s):  
Max Antonio González-Palacios ◽  
Jorge Angeles
Keyword(s):  
Software Package ◽  
Input Output ◽  
Robust Algorithms ◽  
Interactive Analysis ◽  
Analysis And Synthesis ◽  
Synthesis Procedure ◽  
Linkage Synthesis

Abstract SIXPAQ is a software package that was created for the interactive analysis and synthesis of six-bar dwell linkages. The package is structured so that any six-bar dwell planar linkage can be designed by simply choosing a reduced number of parameters. Robust algorithms are introduced that allow an accurate and reliable construction of the two loci on which the linkage synthesis procedure is based. Input-output plots and animation are available within the package as visualization aids. The package allows the user to interact with the program to satisfy the dwell and geometry conditions. Animation is achieved using a powerful graphics workstation.

Linkage Synthesis of a Four-Bar Mechanism for N Precision Points Using Simulated Annealing

1998 ◽  
Author(s):  
Horacio Martínez-Alfaro ◽  
Homero Valdez ◽  
Jaime Ortega
Keyword(s):  
Simulated Annealing ◽  
Computational Intelligence ◽  
Simulated Annealing Algorithm ◽  
Alternative Synthesis ◽  
Computational Intelligence Technique ◽  
Annealing Algorithm ◽  
Four Bar Linkage ◽  
Generation Problem ◽  
Intelligence Technique ◽  
Linkage Synthesis

Abstract This paper presents an alternative way of linkage synthesis by using a computational intelligence technique: Simulated Annealing. The technique allows to define n precision points of a desired path to be followed by a four-bar linkage (path generation problem). The synthesis problem is transformed into an optimization one in order to use the Simulated Annealing algorithm. With this approach, a path can be better specified since the user will be able to provide more “samples” than the usual limited number of five allowed by the classical methods. Several examples are shown to demonstrate the advantages of this alternative synthesis technique.

Method for the Creation of a Six Bar Linkage to Simultaneously Carry Two Rigid Bodies Through Four Coordinated Positions

2012 ◽  
Author(s):  
Ronald A. Zimmerman
Keyword(s):  
Synthesis Method ◽  
Rigid Bodies ◽  
Type Synthesis ◽  
Linkage Mechanism ◽  
Center Point ◽  
Seat Cushion ◽  
The Creation ◽  
Linkage Synthesis

A method for the creation of a six bar linkage with two ground pivots to simultaneously carry two rigid bodies through four coordinated positions was invented and is described and illustrated herein. Type synthesis was used to identify possible linkage classes and specific types of possible six bar linkages. A linkage synthesis method which superimposes three Burmester center point curves to create a six bar linkage mechanism with two ground pivots, to carry two coupled rigid bodies simultaneously through four specified, coordinated positions was developed and is demonstrated. An extension of the method to carry two non-coupled rigid bodies through four positions is indicated. This method was invented in the process of developing a 2nd row automotive truck seat, which is used as an example to illustrate the procedure. A six bar linkage which carries an automotive truck seat back and seat cushion through four coordinated positions is shown.

scholarly journals A Photoactive Isoprenoid Diphosphate Analogue Containing a Stable Phosphonate Linkage:  Synthesis and Biochemical Studies with Prenyltransferases

2007 ◽  
Vol 72 (13) ◽  
pp. 4587-4595 ◽  
Author(s):  
Amanda J. DeGraw ◽  
Zongbao Zhao ◽  
Corey L. Strickland ◽  
A. Huma Taban ◽  
John Hsieh ◽  
...  
Keyword(s):  
Biochemical Studies ◽  
Isoprenoid Diphosphate ◽  
Linkage Synthesis
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