On adjustable spherical four-bar motion generation for expanded prescribed positions

Lee, Wen-Tzong; Russell, Kevin; Shen, Qiong; Sodhi, Raj S.

doi:10.1016/j.mechmachtheory.2008.01.008

Cited by 22 publications

(18 citation statements)

References 7 publications

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“…Peng and Sodhi [14] developed an optimal synthesis method for multi-phase continuous path generation of adjustable planar four-bar linkages. Lee et al [15] demonstrated a method to synthesize adjustable spherical four-bar mechanisms for two-phase motion generation. Chanekar and Ghosal [16,17] have dealt with optimization based method for synthesis for adjustable planar and spherical four-bar, crank-rocker mechanisms for multiple different and desired paths to be traced by a point on the coupler.…”

Section: Background and Literature Reviewmentioning

confidence: 99%

Analysis of Planar Reconfigurable Motion Generators

Venkataramanujam

Larochelle

2014

Volume 5A: 38th Mechanisms and Robotics Conference

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This article presents the kinematic analysis of a new class of mechanical devices called planar Reconfigurable Motion Generators (RMGs) for multi-phase motion generation tasks having only a slight change in the desired motion. The concepts of configuration matrices and state vectors are introduced as a novel way to represent planar RMGs. The kinematic analysis of a planar RMG in it’s initial configuration to determine the associated adjustable link lengths and angles is discussed. The adjustable link lengths are used to determine the link vector and state vector of a RMG. Future work will involve the application of configuration matrices and state vectors to aid in both systematic analysis and synthesis of RMGs.

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Section: Background and Literature Reviewmentioning

confidence: 99%

Analysis of Planar Reconfigurable Motion Generators

Venkataramanujam

Larochelle

2014

Volume 5A: 38th Mechanisms and Robotics Conference

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“…where i is the square root of −1 and t is a parameter (which might for example represent time). For simplicity, it is assumed that the parameter is normalized to run between 0 and 1 as the curve is traced out, with z(0) = z (1).…”

Section: Fourier Representationmentioning

confidence: 99%

“…There are certain properties of the Fourier coefficients which can be drawn out. When m = 0, equation (1) states that the fundamental coefficient, c 0 , is simply the average of all the points along the path. It thus represents their centroid.…”

Section: Fourier Representationmentioning

confidence: 99%

“…Mechanisms and, in particular spherical mechanisms, have a wide range of uses. These include function and motion generation, possibly between given precision points [1,2] or to achieve given spatial re-orientations of an object [3]. Spherical mechanisms can be used as grippers [4] or wrists [5,6] within robotic systems; and a recent extension of this is to robotic surgery [7,8].…”

Section: Introductionmentioning

confidence: 99%

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Atlas of spherical four-bar mechanisms

Mullineux

2011

Mechanism and Machine Theory

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An atlas or catalogue of mechanisms provides a useful aid in the synthesis of mechanisms for new applications. The atlas stores mechanisms together with their coupler paths. Fourier techniques can be used as a convenient means for representing, in normalized form, curves for planar mechanisms. This paper looks at the extension to spherical four-bar mechanisms. In particular, a means for projecting a spherical curve onto a plane is discussed which depends only on the geometry of the curve and not on the choice of world coordinate system.

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“…Synthesis of adjustable spherical four-link mechanisms have also been discussed by some authors. 9,[17][18][19] The key step in any optimization based method is the formulation of an appropriate objective function. In this paper, least-squares circle-fitting (for planar) and a least-squares plane fitting (for spherical) objective function is suggested for optimal synthesis of adjustable four-link mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Synthesis of Adjustable Planar and Spherical Four-link Mechanisms for Approximate Multi-path Generation

Vilas¹,

Ghosal²

2013

IFToMM International Symposium on Robotics and Mechatronics

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This paper deals with the synthesis of planar and spherical adjustable fourlink mechanisms whose coupler point can approximately trace two or more paths prescribed by a large number of points. A single adjustment in one of the mechanism parameters is used to approximately obtain the prescribed paths. A two stage approach is used to first determine the parameters of the driving dyad and then the parameters of the driven dyad. The use of novel and appropriate objective functions with minimum number of variables and a sequential quadratic programming (SQP) algorithm to search for the optimal mechanism parameters leads to quick and accurate synthesis of the four-link mechanisms.

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On adjustable spherical four-bar motion generation for expanded prescribed positions

Cited by 22 publications

References 7 publications

Analysis of Planar Reconfigurable Motion Generators

Analysis of Planar Reconfigurable Motion Generators

Atlas of spherical four-bar mechanisms

Synthesis of Adjustable Planar and Spherical Four-link Mechanisms for Approximate Multi-path Generation

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