Optimum synthesis of motion generating four-bar mechanisms using alternate error functions

Gogate, Gunesh R.; Matekar, Sanjay B.

doi:10.1016/j.mechmachtheory.2012.03.007

Cited by 43 publications

(41 citation statements)

References 27 publications

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“…Kinematic synthesis is normally divided into three categories, namely, motion generation-also called rigid body guidance-function generation, and point-path generation. 15,16 In motion generation, some locations (position and orientation) that represent the desired movement are known. In function generation, the goal is to coordinate an output crank rotation (or slide) with a specific input crank rotation (or slide).…”

Section: Introductionmentioning

confidence: 99%

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.

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Section: Introductionmentioning

confidence: 99%

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Nansai

Rojas

Elara

et al. 2015

Advances in Mechanical Engineering

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“…can be taken into account. In connection with the advent of modern high-speed computers, optimal synthesis of linkages have been created, which were considered in [9][10][11][12][13][14][15][16]. The advantages of optimization methods for the synthesis of linkages are particularly evident in cases where the "classical" methods of kinematic synthesis based on kinematic geometry or various methods of approximation, are inapplicable or ineffective.…”

Section: Issn 2224-5278mentioning

confidence: 99%

Optimal Synthesis of Planar Linkages

Tuleshov¹,

Jomartov²,

Ibrayev³

et al. 2020

OF THE NATIONAL ACADEMY OF SCIENCES OF THE REPUBLIC OF KAZAKHS

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“…They utilize a variable-separation technique to isolate configuration parameters and evaluate these parameters by formulating an unconstrained overdetermined system of nonlinear algebraic equations. Gogate and Matekar [9] use evolutionary methods with alternate error functions based on displacement of pole positions and fundamental geometrical properties of the four-bar mechanism for rigid-body guidance.…”

Section: Related Workmentioning

confidence: 99%

Using Optimization for the Mixed Exact-Approximate Synthesis of Planar Mechanisms

Sundram

Larochelle

2015

Volume 5B: 39th Mechanisms and Robotics Conference

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Exact synthesis algorithms for planar mechanisms for rigid-body guidance are limited by the number of poses the mechanism can position the rigid-body in Euclidean space. The mixed exact-approximate synthesis algorithm described guides a rigid exactly through two positions and approximately through n guiding positions. It breaks down a rigid-body guidance task into n sub-problems of three positions to be solved by an exact synthesis algorithm. A novel algorithm utilizing MATLAB’s constrained non-linear optimization tools is proposed. The algorithm can be utilized to find within a bounded design parameter space the RR dyad that exactly reaches two positions and minimizes the distance to n positions. Two such dyads can be synthesized independently and then combined to yield a planar four-bar mechanism. An example using the proposed algorithm to design a planar four-bar mechanism to solve McCarthy’s 11-position synthesis problem stated at the 2002 ASME Conference is included.

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Optimum synthesis of motion generating four-bar mechanisms using alternate error functions

Cited by 43 publications

References 27 publications

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

Optimal Synthesis of Planar Linkages

Using Optimization for the Mixed Exact-Approximate Synthesis of Planar Mechanisms

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