Theories of Kinematic Analysis and Synthesis of Spatial Mechanisms Containing Lower and Higher Pairs.

1983 ◽  
Author(s):  
George N. Sandor ◽  
Dilip Kohli ◽  
Charles F. Reinholtz ◽  
Ashitova Ghosal ◽  
Manuel Hernandez
Keyword(s):  
Kinematic Analysis ◽  
Spatial Mechanisms ◽  
Analysis And Synthesis

A Dual Number Approach to the Kinematic Analysis of Spatial Linkages With Dimensional and Geometric Tolerances

2004 ◽  
Author(s):  
Emanuele Cecchini ◽  
Ettore Pennestri` ◽  
Roberto Stefanelli ◽  
Leonardo Vita
Keyword(s):  
Kinematic Analysis ◽  
Tolerance Analysis ◽  
Rigid Bodies ◽  
Kinematic Modeling ◽  
Spatial Mechanisms ◽  
Analysis And Synthesis ◽  
Spatial Linkages ◽  
Joint Clearances ◽  
First Time ◽  
Cardan Joint

Design robustness is somewhat connected to tolerances. In fact, the lower is the sensitivity of the kinematic function to the deviations of manufacturing process, the higher is the robustness of the design. In this investigation is described a tolerance analysis method based on dual vectors kinematic modeling of spatial linkages and on Monte Carlo simulation of the random variables. In the present analysis the hypothesis of rigid bodies is valid and only kinematic variables are considered in output. The method is applied to a Cardan joint modelled as an RCCC linkage with main dimensions considered as stochastic variables with Gaussian distribution. Dual vectors are well known in kinematic analysis and synthesis of spatial mechanisms. When compared with traditional vectorial methods, dual vectors show an enhanced capability to model misalignments among kinematic pairs axes. Although this is not the first time that dual vectors are used for the kinematic and dynamic analysis of spatial mechanisms with manufacturing errors, the present use of dual vectors to model joint clearances seems somewhat novel.

CONSTRUCTION OF SCREW GEOMETRY VIA 3-D CAD SYSTEM FOR THE ANALYSIS AND SYNTHESIS OF SPATIAL MECHANISMS

2000 ◽  
Vol 24 (2) ◽  
pp. 401-413
Author(s):  
F.Z. Chen ◽  
M.J. Tsai
Keyword(s):  
Kinematic Analysis ◽  
Computer Aided Design ◽  
Graphical Method ◽  
Graphic Method ◽  
Efficient Process ◽  
Cad System ◽  
Spatial Mechanisms ◽  
Computer Aided ◽  
Analysis And Synthesis ◽  
Aided Design

This paper investigates the application of computer-aided design and drawing (CAD) software to the kinematic analysis and synthesis of spatial mechanisms based upon screw geometry. The advantages of the graphic method for the synthesis and analysis of mechanisms are straightforward, comprehensive, clearly represented, and easy to correlate to a real mechanism. Using conventional 3-D CAD software, the screw axes and joint axes are constructed as virtual parts. The relationships of joint axes that are constrained by screw geometry are the assembly conditions for the virtual parts in the CAD system. This paper shows that, similar to the synthesis of a planar linkage, the synthesis of a spatial C-C dyad by the graphical method in a CAD system is an efficient process.

Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates. Part 2—Analysis of Spatial Mechanisms

1971 ◽  
Vol 93 (1) ◽  
pp. 67-73 ◽  
Author(s):  
M. S. C. Yuan ◽  
F. Freudenstein ◽  
L. S. Woo
Keyword(s):  
Computer Program ◽  
Kinematic Analysis ◽  
Static Force ◽  
Single Degree Of Freedom ◽  
Numerical Examples ◽  
Spatial Mechanism ◽  
Single Degree ◽  
Spatial Mechanisms ◽  
Torque Analysis ◽  
Basic Concepts

The basic concepts of screw coordinates described in Part I are applied to the numerical kinematic analysis of spatial mechanisms. The techniques are illustrated with reference to the displacement, velocity, and static-force-and-torque analysis of a general, single-degree-of-freedom spatial mechanism: a seven-link mechanism with screw pairs (H)7. By specialization the associated computer program is capable of analyzing many other single-loop spatial mechanisms. Numerical examples illustrate the results.

Kinematic Analysis and Synthesis of Three-Input, Eight-Bar Mechanisms Driven by Relatively Small Cranks

1992 ◽  
Author(s):  
Kambiz Farhang ◽  
Partha Sarathi Basu
Keyword(s):  
Nonlinear Equations ◽  
Kinematic Analysis ◽  
Linear Equations ◽  
Output Link ◽  
Analysis And Design ◽  
Constraint Equations ◽  
Analysis And Synthesis ◽  
The Mean ◽  
Approximate Equations

Abstract Approximate kinematic equations are developed for the analysis and design of three-input, eight-bar mechanisms driven by relatively small cranks. Application of a method in which an output link is presumed to be comprised of a mean and a perturbational motions, along with the vector loop approach facilitates the derivation of the approximate kinematic equations. The resulting constraint equations are, (i) in the form of a set of four nonlinear equations relating the mean link orientations, and (ii) a set of four linear equations in the unknown perturbations (output link motions). The latter set of equations is solved, symbolically, to obtain the output link motions. The approximate equations are shown to be effective in the synthesis of three-input, small-crank mechanisms.

SDAMP: Software for the Design and Analysis of Mechanical Presses

2000 ◽  
Author(s):  
Herbert E. Stumph ◽  
Andrew P. Murray
Keyword(s):  
Kinematic Analysis ◽  
Kinematic Synthesis ◽  
Link Mechanism ◽  
Mechanical Press ◽  
Analysis And Synthesis ◽  
Drag Link ◽  
Mechanism Kinematic ◽  
Functioning Mechanism

Abstract In this paper we introduce the MATLAB-based SDAMP (pronounced stamp) software for the analysis and synthesis of several mechanical press linkages. These linkages include the slider-crank and the four six-bar mechanisms formed by attaching a drag-link, crank-rocker, crank-shaper or Whitworth mechanism to a slider-crank. SDAMP performs four basic tasks: guided layout, kinematic analysis, mechanism refine and kinematic synthesis. Guided layout leads the user through joint selection to ensure a functioning mechanism. Kinematic analysis displays the position, velocity, acceleration and jerk of the sliding output versus the rotation of the input link. Mechanism refine allows the user to vary the geometry of an existing mechanism towards the goal of achieving a desired kinematic analysis. Lastly, kinematic synthesis determines the set of defect-free slider-cranks capable of achieving four precision points. All of these capabilities are integrated through a host of GUI driven MATLAB files in SDAMP.

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.

Mobility analysis and structural synthesis of a class of spatial mechanisms with coupling chains

Robotica ◽  
2015 ◽  
Vol 34 (11) ◽  
pp. 2467-2485 ◽  
Author(s):  
Wen-ao Cao ◽  
Huafeng Ding ◽  
Ziming Chen ◽  
Shipei Zhao
Keyword(s):  
Structural Analysis ◽  
Parallel Mechanisms ◽  
Mobility Analysis ◽  
Structural Synthesis ◽  
Systematic Method ◽  
General Methodology ◽  
Spatial Mechanisms ◽  
Analysis And Synthesis

SUMMARYThis paper presents a systematic method for dealing with mobility analysis and structural synthesis of a class of important spatial mechanisms with coupling chains, which involve more complex coupling relations than spatial parallel mechanisms. First, an approach to the establishment of the motion screw equation of the class of mechanisms is derived. Then, a general methodology for mobility analysis along with detection of rigid substructures is proposed based on the motion screw equation. Third, the principle of structural synthesis of the class of mechanisms is established on the basis of the method of mobility analysis. Finally, some novel spatial mechanisms with coupling chains are synthesized, illustrating the effectiveness of the method. The study of the paper will benefit structural analysis and synthesis of more complex spatial mechanisms with coupling chains.

Kinematic analysis of multi-loop spatial mechanisms: The five-loop case

Meccanica ◽  
1991 ◽  
Vol 26 (2-3) ◽  
pp. 101-110 ◽  
Author(s):  
R. Garziera ◽  
E. T. Hajiyev ◽  
R. Riva
Keyword(s):  
Kinematic Analysis ◽  
Spatial Mechanisms
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