{"title":"Constructive Solid Geometry of the Trihedron","authors":"D. Wilde","doi":"10.1115/1.3259041","DOIUrl":"https://doi.org/10.1115/1.3259041","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":"131510874","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":"An Efficient Rate Allocation Algorithm in Redundant Kinematic Chains","authors":"M. Huang, K. Waldron","doi":"10.1115/1.3259036","DOIUrl":"https://doi.org/10.1115/1.3259036","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"79 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":"134003959","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":"Mobility criteria of single-loop N-bar linkages","authors":"K. Ting","doi":"10.1115/1.3259029","DOIUrl":"https://doi.org/10.1115/1.3259029","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"50 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":"134415109","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":"Further Applications of Group Theory to the Enumeration and Structural Analysis of Basic Kinematic Chains","authors":"E. Tuttle, S. W. Peterson, J. Titus","doi":"10.1115/1.3259027","DOIUrl":"https://doi.org/10.1115/1.3259027","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"02 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":"129783846","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":"An efficient algorithm for global optimization in redundant manipulations","authors":"Z. Wang, K. Kazerounian","doi":"10.1115/1.3259026","DOIUrl":"https://doi.org/10.1115/1.3259026","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"98 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":"130019942","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 technique to perform design calculations on imprecise representations of parameters has been developed and is presented. The level of imprecision in the description of design elements is typically high in the preliminary phase of engineer ing design. This imprecision is represented using the fuzzy calculus. Calculations can be performed using this method, to produce (imprecise) performance parameters from imprecise (input) design parameters. The Fuzzy Weighted Average technique is used to perform these calculations. A new metric, called the y-level measure, is in troduced to determine the relative coupling between imprecise inputs and outputs. The background and theory supporting this approach are presented, along with one example. Engineering design, both in practice and research, is evolv ing rapidly, especially in the development of computer-base d tools. Emphasis is moving from the later stages of design, to computational tools for preliminary design. In an earlier paper [35], a general approach to computational tools in preliminary engineering design and a model of the design pro cess was described. The primary aim of this model is to pro vide a structure for the development of tools to assist the designer in: managing the large amount of information en countered in the design process; determining a design's func tional requirements and constraints; evaluating the coupling between the design parameters; and carrying out the process of choosing between alternative design concepts. We are particularly interested in developing tools to assist the designer in the. preliminary phase of engineering design, by making more information available on the performance of design alternatives than is available using conventional design techniques. The most important design decisions (and poten tially the most costly, if wrong) are made at the preliminary stage. Our hypothesis is that increased information, over what is available by traditional design methods, will enable these decisions to be made with greater confidence and reduced risk. The effect will be greater, the earlier in the design cycle addi tional information can be made available. The preliminary phase of the engineering design process is one that embodies many functions: concept generation; evaluation of imprecise descriptions of simplified versions of the design; judgment of design feasibility; etc. [14, 15, 28]. The concept generation and simplification processes will not be addressed by the research reported here; rather our aim is to provide a technique for representing, manipulating, and evaluating the approximate, or imprecise, parametric descrip tions of the (preliminary) design artifact.
{"title":"Computations with Imprecise Parameters in Engineering Design: Background and Theory","authors":"K. Wood, E. Antonsson","doi":"10.1115/1.3259045","DOIUrl":"https://doi.org/10.1115/1.3259045","url":null,"abstract":"A technique to perform design calculations on imprecise representations of parameters has been developed and is presented. The level of imprecision in the description of design elements is typically high in the preliminary phase of engineer ing design. This imprecision is represented using the fuzzy calculus. Calculations can be performed using this method, to produce (imprecise) performance parameters from imprecise (input) design parameters. The Fuzzy Weighted Average technique is used to perform these calculations. A new metric, called the y-level measure, is in troduced to determine the relative coupling between imprecise inputs and outputs. The background and theory supporting this approach are presented, along with one example. Engineering design, both in practice and research, is evolv ing rapidly, especially in the development of computer-base d tools. Emphasis is moving from the later stages of design, to computational tools for preliminary design. In an earlier paper [35], a general approach to computational tools in preliminary engineering design and a model of the design pro cess was described. The primary aim of this model is to pro vide a structure for the development of tools to assist the designer in: managing the large amount of information en countered in the design process; determining a design's func tional requirements and constraints; evaluating the coupling between the design parameters; and carrying out the process of choosing between alternative design concepts. We are particularly interested in developing tools to assist the designer in the. preliminary phase of engineering design, by making more information available on the performance of design alternatives than is available using conventional design techniques. The most important design decisions (and poten tially the most costly, if wrong) are made at the preliminary stage. Our hypothesis is that increased information, over what is available by traditional design methods, will enable these decisions to be made with greater confidence and reduced risk. The effect will be greater, the earlier in the design cycle addi tional information can be made available. The preliminary phase of the engineering design process is one that embodies many functions: concept generation; evaluation of imprecise descriptions of simplified versions of the design; judgment of design feasibility; etc. [14, 15, 28]. The concept generation and simplification processes will not be addressed by the research reported here; rather our aim is to provide a technique for representing, manipulating, and evaluating the approximate, or imprecise, parametric descrip tions of the (preliminary) design artifact.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"150 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":"131934377","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":"Comparison of the Dynamics of Conventional and Worm-Gear Differentials","authors":"J. S. Freeman, S. Velinsky","doi":"10.1115/1.3259043","DOIUrl":"https://doi.org/10.1115/1.3259043","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"34 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":"126877673","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 locational uncertainty of a manipulator is largely due to the errors of the joint variables. But these errors cannot be easily compensated for because they are dependent on the operation (i.e., robot-configuration). Motivated by the need to conduct precision engineering and the intellectual curiosity of geometric uncertainty, the probabilistic tolerance volume due to joint errors is investigated. By defining the locational uncertainty in Cartesian space as a tolerance volume, the investigation focuses on the automatic generation of the tolerance volume from a given confidence level. For this purpose, the linear mapping form Δq space to Δd space through Jacobian matrix is analyzed probabilistically. Probabilistic approach is advantageous since the tolerance volume by the deterministic approach is found to be unnecessarily large. With the assumption of normality of joint variables, this paper begins with the computation of the confidence level for a given tolerance volume. A fast analytic procedure, which gives a considerable time-reduction compared to the commonly used Monte-Carlo simulation, is presented. Based on the monotonic relation between confidence level and tolerance volume, the procedure is used to generate the tolerance volume covering the desired confidence level. The scheme is tested with the six degrees-of-freedom Stanford manipulator and shows a significant (more than 5 times) reduction in the size of the tolerance volume with a 0.3 percent probability of error.
{"title":"Tolerance Volume Due to Joint Variable Errors in Robots","authors":"Woo-Jong Lee, T. Woo","doi":"10.1115/1.3259042","DOIUrl":"https://doi.org/10.1115/1.3259042","url":null,"abstract":"The locational uncertainty of a manipulator is largely due to the errors of the joint variables. But these errors cannot be easily compensated for because they are dependent on the operation (i.e., robot-configuration). Motivated by the need to conduct precision engineering and the intellectual curiosity of geometric uncertainty, the probabilistic tolerance volume due to joint errors is investigated. By defining the locational uncertainty in Cartesian space as a tolerance volume, the investigation focuses on the automatic generation of the tolerance volume from a given confidence level. For this purpose, the linear mapping form Δq space to Δd space through Jacobian matrix is analyzed probabilistically. Probabilistic approach is advantageous since the tolerance volume by the deterministic approach is found to be unnecessarily large. With the assumption of normality of joint variables, this paper begins with the computation of the confidence level for a given tolerance volume. A fast analytic procedure, which gives a considerable time-reduction compared to the commonly used Monte-Carlo simulation, is presented. Based on the monotonic relation between confidence level and tolerance volume, the procedure is used to generate the tolerance volume covering the desired confidence level. The scheme is tested with the six degrees-of-freedom Stanford manipulator and shows a significant (more than 5 times) reduction in the size of the tolerance volume with a 0.3 percent probability of error.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"138 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":"124674794","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":"Identification and Observability Measure of a Basis Set of Error Parameters in Robot Calibration","authors":"C. Menq, J. Borm, J. Z. Lai","doi":"10.1115/1.3259031","DOIUrl":"https://doi.org/10.1115/1.3259031","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"40 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120823115","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":"The Creation of Nonfractionated, Two-Degree-of-Freedom Epicyclic Gear Trains","authors":"L. Tsai, Chen-Chou Lin","doi":"10.1115/1.3259033","DOIUrl":"https://doi.org/10.1115/1.3259033","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"31 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":"128746731","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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