This paper presents an analytical method for synthesis of function generating spherical 4R mechanisms for the five precision points. For the design requirements an additional parameter, reference value of output angle, w 0 , was added to angular link length parameters, a i (i = 1,. . . , 4). In the dimensional synthesis procedure, a novel approach of polynomial approximation method was proposed to determine these five design parameters. Using this method, a set of five non-linear equations was easily transformed into a set of fifteen linear equations. Hence, the problem was reduced to the solution of a cubic polynomial equation. Moreover, a graphical method in a CAD environment is proposed to verify the solutions.
In this paper, approximate motion synthesis of spherical linkages is presented. Rigid body guidance of a spherical four-bar mechanism is performed by a spherical RR open chain. In the first step, position of a point on rigid body and orientation of a rigid body on a unit sphere are described. Synthesizing function of spherical dyad is derived by means of using unit vectors that describe location of two revolute joints and tip point. Being based on the theory of function approximation and besides the linearization of nonlinear synthesis equations by using superposition method, the design procedure for real solutions of fourth order polynomial equation is developed. In the second step, approximate motion generation synthesis of spherical dyad is presented by using least-square approximation. Chebyshev spacing and equal spacing are used in the determination of poses. In the final step, two numerical examples are given to show how error graph is varied in terms of selected poses. The spherical motion generation synthesis of spherical four-bar mechanism is obtained by the combination of the two real solutions of the synthesis of two spherical dyads.
A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn't require any surface modeling tool of rough terrain is represented. Two tilting angles -measured about both longitudinal and lateral axes of the rover body -are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.
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