Planar Four-Bar Path Generation with Static Structural Conditions

Al-Smadi, Yahia M.; Russell, Kevin; Sodhi, Raj S.

doi:10.1299/jamdsm.2.926

Cited by 5 publications

(5 citation statements)

References 16 publications

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AbstractThis work extends the concepts and methodologies of Shen et al (1) and Al-Smadi et al (2) to synthesis of spatial RRSS motion generators with applied coupler loads. A general four-bar mechanism constraint that includes a coupler static load and a driver static torques is formulated using the principal of virtual work.

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mentioning

confidence: 83%

“…The concept of motion generation with static coupler loading for planar four-bar mechanisms has been addressed by Huang and Roth (11) with analytical motion generation models and recently by Shen et al (1) and Al-Smadi et al (2,12) with numerical motion generation models. This work extends the concept of motion generation with static coupler loading to consider one of the most basic spatial four-bar mechanisms-the RRSS mechanism.…”

Section: Motivation and Scope Of Workmentioning

confidence: 99%

“…Formulating Equations (5), (6) and (9) poses and satisfy the maximum crank static torque condition for a given couple load are calculated. Like the works of Shen et al (1) and Al-Smadi et al (2) , the authors employ Sequential Quadratic Programming (SQP) for solving the nonlinear optimization problems. Equation (21), the general SQP merit function used by Han (14) and Powell (15) , includes Equation (20) as the objective function, Equations (1)∼(4) as equality constraints (variable m e ) and Equation (19) and an inequality constraint (variable m) for the first nonlinear optimization problem.…”

Section: Nonlinear Optimization Problemsmentioning

confidence: 99%

“…Equation (21), the general SQP merit function used by Han (14) and Powell (15) , includes Equation (20) as the objective function, Equations (1)∼(4) as equality constraints (variable m e ) and Equation (19) and an inequality constraint (variable m) for the first nonlinear optimization problem. The reader could refer to the works of Shen et al (1) and Al-Smadi et al (2) for detailed SQP algorithm steps.…”

Section: Nonlinear Optimization Problemsmentioning

confidence: 99%

See 3 more Smart Citations

On the Synthesis of Spatial RRSS Motion Generators with Prescribed Coupler Loads

Russell

Shen

Lee³

et al. 2009

JAMDSM

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This work extends the concepts and methodologies of Shen et al (1) and Al-Smadi et al (2) to synthesis of spatial RRSS motion generators with applied coupler loads. A general four-bar mechanism constraint that includes a coupler static load and a driver static torques is formulated using the principal of virtual work. This constraint is combined with the conventional RRSS motion generation model by Suh and Radcliffe (13) to form a nonlinear optimization problem from which RRSS mechanism solutions are calculated that approximate prescribed coupler poses and satisfy prescribed driver static torques for given coupler loads.

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mentioning

confidence: 83%

Section: Motivation and Scope Of Workmentioning

confidence: 99%

Section: Nonlinear Optimization Problemsmentioning

confidence: 99%

Section: Nonlinear Optimization Problemsmentioning

confidence: 99%

See 2 more Smart Citations

On the Synthesis of Spatial RRSS Motion Generators with Prescribed Coupler Loads

Russell

Shen

Lee³

et al. 2009

JAMDSM

Self Cite

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“…Recent studies are generally about path generation (Russell and Shen, 2011), (Al-Smadi, et al, 2008), optimal design (Wang, et al, 2013), or geared linkages (Parlaktaş, et al, 2010). Special cases of four-bar linkages are used to obtain mechanical input-output relationship between spatially oriented axes of movement.…”

Section: Introductionmentioning

confidence: 99%

Fully compliant spatial four-bar mechanism

Tanık

Parlaktaş

2015

JAMDSM

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This paper presents a novel study on the analysis of the "fully compliant" spatial four-bar mechanism. To the best of our knowledge, any research on "fully compliant" spatial four-bar mechanism is not available in the literature. In the previous study performed by the authors, a "partially compliant" version of the spatial four-bar mechanism was introduced. There was a rigid spherical joint in that case, thus there was no torsional loading at flexural hinges. For the fully compliant case, there is no spherical joint in the structure of the mechanism, thereby there is also torsion available at multiple axis flexural hinges. Design of this fully compliant mechanism is different from the partially compliant case. In this study, deflections of the multiple axis flexural hinges are determined separately as bending and twist. Essential angles for manufacturing a mechanism are determined. A prototype is built and results of the mathematical model are verified with experiments. Finally, a fatigue test is performed. After one and a half million cycles it is observed that there is no indication of any failure. Since there are many applications of rigid spatial four bar mechanisms, it is strongly believed that a fully compliant version of such a mechanism may also find applications.

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On Adjustable Planar Four-Bar Motion Generation With Order, Branch and Circuit Defect Rectification

Shen¹,

Lee

Russell

2015

Journal of Mechanisms and Robotics

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This work is an incremental extension of adjustable planar four-bar kinematic synthesis theory to consider not only synthesis, but also the elimination of the defects inherent in synthesis. A nonlinear equation system for moving pivot-adjustable planar four-bar motion generation that includes constraints for order defect, branch defect and circuit defect elimination is presented in this work. In the objective function of the equation system, the error between the prescribed and achieved precision positions is minimized. The equation system includes inequality constraints to eliminate order defects and branch defects. The equation system also includes a complete planar four-bar displacement model to eliminate circuit defects.

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Planar Four-Bar Path Generation with Static Structural Conditions

Cited by 5 publications

References 16 publications

On the Synthesis of Spatial RRSS Motion Generators with Prescribed Coupler Loads

On the Synthesis of Spatial RRSS Motion Generators with Prescribed Coupler Loads

Fully compliant spatial four-bar mechanism

On Adjustable Planar Four-Bar Motion Generation With Order, Branch and Circuit Defect Rectification

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