A new integrated approach to the design of high speed planar mechanisms is presented. The resulting nonlinear programming formulation combines both the kinematic and kinetostatic synthesis aspects of mechanism design. The multiobjective optimization techniques presented in this work facilitate the design of a linkage to meet several kinematic and dynamic design criteria. The method can be used for motion, path, and function generation problems. The nonlinear programming formulation also permits an imposition of constraints to eliminate solutions which possess undesirable kinematic and motion characteristics. To model the vague and imprecise information in the problem formulation, the tools of fuzzy set theory have been used. A novel method of solving the resulting fuzzy multiobjective problem using mathematical programming techniques is presented. The outlined procedure is expected to be useful in situations where doubt arises about the exactness of permissible values, degree of credibility, and correctness of statements and judgements.
{"title":"Integrated kinematic-kinetostatic approach to optimal design of planar mechanisms using fuzzy theories","authors":"A. Dhingra, Singiresu S. Rao","doi":"10.1115/1.2912783","DOIUrl":"https://doi.org/10.1115/1.2912783","url":null,"abstract":"A new integrated approach to the design of high speed planar mechanisms is presented. The resulting nonlinear programming formulation combines both the kinematic and kinetostatic synthesis aspects of mechanism design. The multiobjective optimization techniques presented in this work facilitate the design of a linkage to meet several kinematic and dynamic design criteria. The method can be used for motion, path, and function generation problems. The nonlinear programming formulation also permits an imposition of constraints to eliminate solutions which possess undesirable kinematic and motion characteristics. To model the vague and imprecise information in the problem formulation, the tools of fuzzy set theory have been used. A novel method of solving the resulting fuzzy multiobjective problem using mathematical programming techniques is presented. The outlined procedure is expected to be useful in situations where doubt arises about the exactness of permissible values, degree of credibility, and correctness of statements and judgements.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123935041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Model Based Rigid Body Guidance in Presence of Nonconvex Geometric Constraints","authors":"T. Ku, B. Ravani","doi":"10.1115/1.3259039","DOIUrl":"https://doi.org/10.1115/1.3259039","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128128643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Optimal Tooth Modifications for Spur and Helical Gears","authors":"V. Simon","doi":"10.1115/1.3259044","DOIUrl":"https://doi.org/10.1115/1.3259044","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115850874","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Kinematic Calibration of Robotic Manipulators","authors":"K. Kazerounian, G. Z. Qian","doi":"10.1115/1.3259025","DOIUrl":"https://doi.org/10.1115/1.3259025","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131481165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Spline Functions Applied to the Synthesis and Analysis of Nonrigid Cam-Follower Systems","authors":"D. Tsay, C. Huey","doi":"10.1115/1.3259038","DOIUrl":"https://doi.org/10.1115/1.3259038","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131802299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, an analytical approach for the displacement analysis of spatial openloop systems by means of direction cosine transformation matrices is presented. Two local coordinate systems at each joint are designated to formulate the direction cosine matrices, in recursive form, of the joint axis and link vector. Elements of the 3×3 direction cosine transformation matrices are computed based on the geometry of successive link elements, the unit vectors of preceding joint axis and link vector, and the cofactors of direction cosine matrix. The analysis using direction cosine matrix method will provide the “exact” joint positions in space. A computer algorithm is developed to investigate the workspaces of spatial n-R open-loop systems that projected onto the X-Y, Y-Z, and Z-X coordinate planes, respectively. Numerical examples for the workspaces of an industrial robot and the human upper extremity are illustrated.
{"title":"Analysis of spatial open-loop system by means of direction cosine transformation matrices","authors":"T. Yih, Y. Youm","doi":"10.1115/1.3259030","DOIUrl":"https://doi.org/10.1115/1.3259030","url":null,"abstract":"In this paper, an analytical approach for the displacement analysis of spatial openloop systems by means of direction cosine transformation matrices is presented. Two local coordinate systems at each joint are designated to formulate the direction cosine matrices, in recursive form, of the joint axis and link vector. Elements of the 3×3 direction cosine transformation matrices are computed based on the geometry of successive link elements, the unit vectors of preceding joint axis and link vector, and the cofactors of direction cosine matrix. The analysis using direction cosine matrix method will provide the “exact” joint positions in space. A computer algorithm is developed to investigate the workspaces of spatial n-R open-loop systems that projected onto the X-Y, Y-Z, and Z-X coordinate planes, respectively. Numerical examples for the workspaces of an industrial robot and the human upper extremity are illustrated.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127069679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
James E. Smith, A. D. McKisic, R. Craven, J. Prucz
{"title":"Three-Dimensional Balancing of the Stiller-Smith Mechanism for Application to an Eight-Cylinder IC Engine","authors":"James E. Smith, A. D. McKisic, R. Craven, J. Prucz","doi":"10.1115/1.3259021","DOIUrl":"https://doi.org/10.1115/1.3259021","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125771837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The performance of a legged system is closely related to the adopted gait. Among the many available gaits, the wave gait possesses the optimum stability [1–3] and has been applied to walking on perfectly smooth terrain. The follow-the-leader (FTL) gait has the least demands for foothold selection and is the most suitable for walking on rough terrain [14]. In this paper, a strategy of wave gait which enables a hexapod to traverse two-dimensional, rough terrain is developed. This strategy applies a quasi FTL mode in walking and hence it has the advantages of both wave gait (optimum stability) and FTL gait (easy control on rough terrain). During walking, the legs move according to the wave gait and the two forelegs are adjusted to avoid forbidden areas. The maximum foot adjustment is determined by the current foot positions and the foot positions in the following one or two step(s). In order to improve the stability, different methods of foot adjustments and body adjustments are evaluated and integrated into the strategy. Finally, this strategy is verified by using computer graphics simulations.
{"title":"A Strategy of Wave Gait for a Walking Machine Traversing a Rough Planar Terrain","authors":"Xinchen Qiu, Shin-Min Song","doi":"10.1115/1.3259023","DOIUrl":"https://doi.org/10.1115/1.3259023","url":null,"abstract":"The performance of a legged system is closely related to the adopted gait. Among the many available gaits, the wave gait possesses the optimum stability [1–3] and has been applied to walking on perfectly smooth terrain. The follow-the-leader (FTL) gait has the least demands for foothold selection and is the most suitable for walking on rough terrain [14]. In this paper, a strategy of wave gait which enables a hexapod to traverse two-dimensional, rough terrain is developed. This strategy applies a quasi FTL mode in walking and hence it has the advantages of both wave gait (optimum stability) and FTL gait (easy control on rough terrain). During walking, the legs move according to the wave gait and the two forelegs are adjusted to avoid forbidden areas. The maximum foot adjustment is determined by the current foot positions and the foot positions in the following one or two step(s). In order to improve the stability, different methods of foot adjustments and body adjustments are evaluated and integrated into the strategy. Finally, this strategy is verified by using computer graphics simulations.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129721847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A new approach to numerical analysis of workspaces of multibody mechanical systems is presented, based on manifold theory and computational continuation methods. Generalized coordinates that define the kinematics of a system are classified and interpreted from an input-output point of view. Boundaries of workspaces, which depend on the classification of generalized coordinates, are defined as sets of points for which Jacobian matrices of the kinematic equations are row rank deficient. This criterion generalizes the conventional determinant criteria for applications with square Jacobian matrices. Numerical methods for tracing families of one dimensional trajectories on a workspace boundary are outlined. Open and closed loop manipulator examples are analyzed, using a manifold mapping computer program.
{"title":"Workspace analysis of multibody mechanical systems using continuation methods","authors":"Doo Y. Jo, E. Haug","doi":"10.1115/1.3259040","DOIUrl":"https://doi.org/10.1115/1.3259040","url":null,"abstract":"A new approach to numerical analysis of workspaces of multibody mechanical systems is presented, based on manifold theory and computational continuation methods. Generalized coordinates that define the kinematics of a system are classified and interpreted from an input-output point of view. Boundaries of workspaces, which depend on the classification of generalized coordinates, are defined as sets of points for which Jacobian matrices of the kinematic equations are row rank deficient. This criterion generalizes the conventional determinant criteria for applications with square Jacobian matrices. Numerical methods for tracing families of one dimensional trajectories on a workspace boundary are outlined. Open and closed loop manipulator examples are analyzed, using a manifold mapping computer program.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126918606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.
{"title":"Automated Modeling and Rapid Solution of Robot Dynamics Using the Symbolic Polynomial Technique","authors":"M. A. Townsend, S. Gupta","doi":"10.1115/1.3259035","DOIUrl":"https://doi.org/10.1115/1.3259035","url":null,"abstract":"Fast and accurate solutions of the dynamic equations of a robot arm are required for real time on-line control. In this paper we present a new method for rapidly evaluating the exact dynamic state of a robot. This method uses a combination of symbolic and numerical computations on the equations of motion, which are developed in the form of polynomials—hence the name, the symbolic polynomial technique.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116095149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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