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

Abstract

General optimization models for the dimensional synthesis of defect-free Revolute-Cylindrical-Cylindrical-Cylindrical linkages with static loading are formulated and evaluated in this work. With these optimization models, Revolute-Cylindrical-Cylindrical-Cylindrical linkage dimensions required to approximate coupler positions or coupler path points while achieving static equilibrium (given coupler loads) within a maximum driver static torque are calculated. These models also include constraints that eliminate order, branch and circuit defects-defects that are common in traditional dyad-based dimensional synthesis. Therefore, the novelty of this work is the development of optimization models that permit the synthesis of order, branch and circuit defect-free Revolute-Cylindrical-Cylindrical-Cylindrical motion and path generators that also achieve static equilibrium within a maximum specified driver torque magnitude for specified coupler loads. This work conveys both the benefits and drawbacks realized when implementing these optimization models on a personal computer using the commercial mathematical analysis software package Matlab.

Kinetostatics of a serial robot in screw form

“…Fischer 6 studied the statics of cylindrical joints by separating forces and moments. Lee et al 7 calculated the parameter of linkage required to achieve static equilibrium within the static torque range In addition, some static balancing methods about spherical joint mechanisms, 8 planar linkage mechanisms, 9,10 Tensegrity mechanisms, 11 and multi-link suspension 12 have also been developed. This method is widely used in different fields.…”

Discussion of Hwang and Chen's constraint equations to eliminate order, circuit and branch defects for the paper: Defect-free synthesis of Stephenson-III motion generators, published in Journal of Mechanical Engineering Science, 2008; 222: 2485–2494

“…24,25 In 2019, Lee et al. 26 developed an optimization models that permit the synthesis of order, branch and circuit defect-free RCCC motion and path generators that also achieve static equilibrium within a maximum specified driver torque magnitude for specified coupler loads. In 2019, a methodology dealing with defect-free Stephenson III path generators used a loop-by-loop defect-rectification procedure; please refer to Singh et al.…”