On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions

Abstract

A general optimization model for the dimensional synthesis of defect-free revolute-cylindrical-cylindrical-cylindrical joint (or RCCC) motion generators is formulated and demonstrated in this work. With this optimization model, the RCCC dimensions required to approximate an indefinite number of precision positions are calculated. The model includes constraints to eliminate order branch and circuit defects—defects that are common in dyad-based dimensional synthesis. Therefore, the novelty of this work is the development of a general optimization model for RCCC motion generation for an indefinite number of precision positions that simultaneously considers order, branch, and circuit defect elimination. This work conveys both the benefits and drawbacks realized when implementing the optimization model on a personal computer using the commercial mathematical analysis software package matlab.

On the application of spatial four-bar motion and axode generation for the design of a prosthetic canine knee joint

“…3 This model is similar in form to an optimization model presented for Revolute-Cylindrical-Cylindrical-Cylindrical (or RCCC) linkage motion generation. 10 In the RRSS optimization model, the objective function is…”

“…A branch defect is an undesired state in four-bar motion generators where coupler positions are not achieved over a single linkage configuration. 11 Inequality (10) eliminates order defects during linkage motion. An order defect is an undesired state in four-bar motion generators where coupler positions are not achieved in their prescribed order.…”

“…The inequalities u j \ u jÀ1 and u 6 . À 2p can be used instead in Inequality (10) to ensure a continuous clockwise crank rotation.…”

Revolute-Cylindrical-Cylindrical-Cylindrical linkage optimum dimensional synthesis with static structural loading

“…The authors recently presented an optimization model for defect-free RCCC motion generation. 13 With this model, order, branch, and circuit defect-free RCCC linkages are synthesized to approximate precision positions. This latest work in RCCC dimensional synthesis has two significant distinctions: (1) the inclusion of a constraint to accommodate precision position static forces and driver static torques and (2) the expansion of the optimization model to include RCCC path generation with static structural loading.…”