Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces

Abstract

Following recent work on Stephenson-type mechanisms, the synthesis equations of Watt six-bar mechanisms that act as timed curve generators are formulated and systematically solved. Four variations of the problem arise by assigning the actuator and end effector onto different links. The approach produces exact synthesis of mechanisms up to eight precision points. Polynomial systems are formulated and their maximum number of solutions is estimated using the algorithm of random monodromy loops. Certain variations of Watt timed curve generators possess free parameters that do not affect the output motion, indicating a continuous space of cognate mechanisms. Packaging compactness, clearance, and dimensional sensitivity are characterized across the cognate space to illustrate trade-offs and aid in selection of a final mechanism.

Structural-Parametric Synthesis of the RoboMech Class Parallel Mechanism with Two Sliders

“…Many approaches for kinematic analysis and synthesis of mechanisms and manipulators are based on the derivative of loop-closure equations using the vector, matrix and screw methods [28][29][30][31][32][33][34][35][36][37][38][39][40][41][42]. In this case, polynomials of high degrees are obtained [43,44].…”