Six and Seven Position Triad Synthesis Using Continuation Methods

Subbian, T.; Flugrad, Donald R.

doi:10.1115/1.2919429

Cited by 21 publications

(17 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…One approach to achieve more precision points is to use a mechanism with more links providing additional design parameters. Subbian and Flugrad [12] used a continuation method to synthesize eight-bars to produce six precision points. McLarnan [13] used an iterative solution technique to design Watt and Stephenson linkages to achieve eight precision points.…”

Section: Introductionmentioning

confidence: 99%

Reducing Structural Error in Function Generating Mechanisms via the Addition of Large Numbers of Four-Bar Mechanisms

Hessein¹

2017

Preprint

View full text Add to dashboard Cite

This paper presents a methodology for synthesizing planarlinkages to approximate any prescribed periodic function. Themechanisms selected for this task are the slider-crank and thegeared five-bar with connecting rod and sliding output (GFBS),where any number of drag-link (or double crank) four-bars areused as drivers. A slider-crank mechanism, when comparing theinput crank rotation to the output slider displacement, producesa sinusoid-like function. Instead of directly driving the inputcrank, a drag-link four-bar may be added that drives the crankfrom its output via a rigid connection between the two. Drivingthe input of the added four-bar results in a function that is lesssinusoid-like. This process can be continued through the additionof more drag-link mechanisms to the device, slowly alteringthe curve toward any periodic function with a single maximum.For periodic functions with multiple maxima, a GFBS is usedas the terminal linkage added to the chain of drag-link mechanisms.The synthesis process starts by analyzing one period ofthe function to design either the terminal slider-crank or terminalGFBS. A randomized local search is then conducted as thefour-bars are added to minimize the structural error between thedesired function and the input-output function of the mechanism.Mechanisms have been “grown” in this fashion to dozens of linksthat are capable of closely producing functions with a variety ofintriguing features.

show abstract

Section: Introductionmentioning

confidence: 99%

Reducing Structural Error in Function Generating Mechanisms via the Addition of Large Numbers of Four-Bar Mechanisms

Hessein¹

2017

Preprint

View full text Add to dashboard Cite

show abstract

“…The synthesis of an eight-bar linkage to reach a specified set of task positions was first presented by Subbian and Flugrad (1994) [5]. They formulated design equations for a connected set of RR and RRR chains such that the resulting system could reach as many as seven task positions.…”

Section: Introductionmentioning

confidence: 99%

Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

Soh

Ying

2013

Volume 6A: 37th Mechanisms and Robotics Conference

View full text Add to dashboard Cite

This paper details the dimensional synthesis for the rigid body guidance of planar eight-bar linkages that could be driven by a prismatic joint at its base. We show how two RR cranks can be added to a planar parallel robot formed by a PRR and 3R serial chain to guide its end-effector through a set of five task poses. This procedure is useful for designers who require the choice of ground pivot locations. The results are eight different types of one-degree of freedom planar eight-bar linkages. We demonstrate the design process with the design of a multifunctional wheelchair that could transform its structure between a self-propelled wheelchair and a walking guide.

show abstract

“…3. The synthesis of planar 3R chains, also known as triads, for motion generation has been first studied by Chase et al [25] and Subbian and Flugrad [26]. They used triad synthesis to design planar 3R chains with up to seven task positions.…”

Section: The Geometric Design Processmentioning

confidence: 99%

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Tan

Robson

Soh

2017

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

This paper describes a dimensional synthesis method used in the design of a passive finger exoskeleton that takes into account the user limb anthropometric dimensions and contact requirements for grasping objects. The paper is the first step in our current efforts on the design of wearable devices that use a common slider at the hand to passively drive each exofinger. The finger exoskeleton is comprised of a 3R serial limb and is constrained to multiloop eight-bar slider mechanism using two RR constraints. To design the exolimb, the pose of the limb was captured using an optical motion capture and its dimensions were determined using a constrained least square optimization, which takes into account human skin movement. To illustrate the generality of our approach, an example of the design of an index and middle finger exolimb is described.

show abstract

Six and Seven Position Triad Synthesis Using Continuation Methods

Cited by 21 publications

References 0 publications

Reducing Structural Error in Function Generating Mechanisms via the Addition of Large Numbers of Four-Bar Mechanisms

Reducing Structural Error in Function Generating Mechanisms via the Addition of Large Numbers of Four-Bar Mechanisms

Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Contact Info

Product

Resources

About