Bi-mobile Mechanisms Designed by Means of Their Inverse Models

Abstract

One the main objective of the mechanism and machine theory is to create new optimal systems. In industrial applications or in robotics the bi-mobile mechanisms are usually used to describe any variable planar curve. The structural synthesis of such mechanisms involves new aspects related to their inverse structural models. These models are characterized by zero degree of mobility so that they are connection of passive modular groups. The paper puts into evidence the bi-mobile mechanisms solutions for which the inverse models contain exclusively passive modular groups with for links.

Bi-mobile planar mechanisms for robotics obtained through inverse modelling

“…In this last case the inverse model is a Baranov truss, Table 3. The robot mechanism is finally obtained by introducing two active pairs in the linkages structure through its direct model [12,13,15].…”

“…By adding additional degrees of mobility (rotation and/or translation) to the basis, multi-mobile systems for manipulators or pedipulators (legs) found in various fields are obtained. The paper aims to highlight these mechanisms using bi-mobile planar kinematic linkages described in the classical literature of mechanism theory [1][2][3][4][5]16,17,23,25] in which the basis and the effector are nominated by inverse modelling [8][9][10][11][12]13,15]. The effector extremity of such mechanism may describe any trajectory in its field.…”

“…All basis-effector solutions for planar bimobile mechanisms obtained from linkages with five degrees of mobility and two and three independent contours are mentioned. The mechanism mobility is given by two active kinematic pairs suitably placed in the same chain [8][9][10][11][12][13][14][15]. The structural algorithm included in the paper offers the possibility to create various optimal solution for bi-mobile mechanisms.…”

Passive modular groups with eight elements from inverse structural modeling of planar linkages

“…The structural synthesis of bi-mobile plane mechanisms based on kinematic chains with five degrees of freedom required the selection of base and effector elements in the chain, achieved by inverse modeling [6,7,11]. The virtual connection to the base of the effector with plane motion dependent on two independent parameters [8,11] leads to the cancellation of the mobility of the structure. The solutions are recorded in a baseeffector square and symmetric matrix (nxn) with Boolean values in which n signifies the number of elements of the chain [8].…”

“…In recent years, Baranov trusses have come to the attention of researchers [4]. The structural synthesis of bi-mobile plane mechanisms based on kinematic chains with five degrees of freedom required the selection of base and effector elements in the chain, achieved by inverse modeling [8][9][10][11].…”