On the optimal kinematic design of spherical and spatial mechanisms

2002 ◽  
Author(s):  
F.C. Park
Keyword(s):  
Kinematic Design ◽  
Spatial Mechanisms

Optimal design of a redundant spherical parallel manipulator

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 399-405 ◽  
Author(s):  
Sylvie Leguay-Durand ◽  
Claude Reboulet
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Structure Optimization ◽  
Kinematic Design ◽  
Spherical Wrist ◽  
Redundant Structure ◽  
Spherical Parallel Manipulator

A new kinematic design of a parallel spherical wrist with actuator redundancy is presented. A special feature of this parallel manipulator is the arrangement of co-axial actuators which allows unlimited rotation about any axis inside a cone-shaped workspace. A detailed kinematic analysis has shown that actuator redundancy not only removes singularities but also increases workspace while improving dexterity. The structure optimization has been performed with a global dexterity criterion. Using a conditioning measure, a comparison with a non-redundant structure of the same type was performed and shows that a significant improvement in dexterity has been obtained.

On the shaft locations of two contra-rotating counterweights for balancing spatial mechanisms

1997 ◽  
Vol 211 (8) ◽  
pp. 567-578 ◽  
Author(s):  
S-T Chiou ◽  
J-C Tzou
Keyword(s):  
Root Mean Square ◽  
Mean Square ◽  
Spatial Mechanism ◽  
Spatial Mechanisms ◽  
Crank Mechanism ◽  
Frequency Term ◽  
Shaking Moment

It has been shown in a previous work that a frequency term of the shaking force of spatial mechanisms, whose hodograph is proved to be an ellipse, can be eliminated by a pair of contrarotating counterweights. In this work, it is found that the relevant frequency term of the shaking moment is minimized if the balancing shafts are coaxial at the centre of a family of ellipsoids, called isomomental ellipsoids, with respect to (w.r.t.) any point on an ellipsoid, as is also the root mean square (r.m.s.) of the relevant frequency term of the shaking moment. It can also be minimized even though the location of either shaft, but not both, is chosen arbitrarily on a plane. The location of the second shaft is then determinate. In order to locate the centre, a derivation for the theory of isomomental ellipsoids of a frequency term of the shaking moment of spatial mechanisms is given. It is shown that the r.m.s. of a frequency term shaking moment of a spatial mechanism w.r.t. the concentric centre of the isomomental ellipsoids is the minimum. Examples of a seven-link 7-R spatial linkage and a spatial slider-crank mechanism are included.

Spatial resolution-based kinematic design of a parallel positioning platform

2010 ◽  
Vol 53 (9-12) ◽  
pp. 1149-1165 ◽  
Author(s):  
Ana Cristina Majarena ◽  
Jorge Santolaria ◽  
David Samper ◽  
Juan Jose Aguilar Martin
Keyword(s):  
Spatial Resolution ◽  
Kinematic Design

The two-rotating-mass balancers for partial balancing of spatial mechanisms

1997 ◽  
Vol 32 (5) ◽  
pp. 617-628 ◽  
Author(s):  
S.-T. Chiou ◽  
M.-G. Shieh ◽  
R.-J. Tsai
Keyword(s):  
Spatial Mechanisms

Kinematic design and motion analysis of spatial rapier drive mechanisms used in weaving machines

2014 ◽  
Vol 84 (19) ◽  
pp. 2065-2073 ◽  
Author(s):  
Recep Eren ◽  
Mesrur Erturk ◽  
Barıs Hascelik
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Gear Ratio ◽  
Main Shaft ◽  
Drive Mechanism ◽  
Spatial Mechanism ◽  
Kinematic Design ◽  
Shaft Angle

This paper presents an approach for the kinematic design of a rapier drive mechanism containing a spatial mechanism and analyses rapier motion curve. Kinematic design and analysis equations are derived and then the link lengths of the spatial mechanism are calculated in order to satisfy the critical rapier positions inside and outside the shed. In this way, the portions of one loom revolution, during which the rapiers are inside and outside the shed, are determined. The rapier motion curve is obtained by using kinematic analysis equations. It is shown that the position of the oscillating link in the spatial mechanism and the loom main shaft angle at which the rapier enters the shed have the most significant effect on the rapier motion curve. The gear ratio has also some effect on the rapier motion curve. Different rapier motion curves are obtained by changing these parameters and the suitability of these curves for rapier motion is discussed.

Kinematic Design of Serial Link Manipulators From Task Specifications

1993 ◽  
Vol 12 (3) ◽  
pp. 274-287 ◽  
Author(s):  
Christiaan J. J. Paredis ◽  
Pradeep K. Khosla
Keyword(s):  
Serial Link ◽  
Kinematic Design

Geometric optimization algorithims for robot kinematic design

1995 ◽  
Vol 12 (6) ◽  
pp. 453-463 ◽  
Author(s):  
Frank C. Park ◽  
James E. Bobrow
Keyword(s):  
Geometric Optimization ◽  
Kinematic Design

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

1989 ◽  
Vol 111 (2) ◽  
pp. 202-207 ◽  
Author(s):  
C. Gosselin ◽  
J. Angeles
Keyword(s):  
Numerical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
Design Criteria ◽  
Kinematic Design ◽  
Three Degree Of Freedom

In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Sign in / Sign up

Export Citation Format

Share Document