Abstract
This paper presents a general formulation intended for path generation synthesis based on the derivation of kinematic constraint equations in their matrix form and their subsequent assembly in a system of linear equations. The procedure enables obtaining in a simple way the partial derivatives of the nodal coordinates of a mechanism with respect to the dimensional or input parameters. The main utility of this type of calculation is its application to gradient calculation within optimal dimensional synthesis, being valid for any planar mechanism composed of any number of elements connected by revolute joints (R), prismatic (P) or the combination R+P. The proposed approach has been implemented in general-purpose GUI software to solve path generation problems.
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Acknowledgments
The authors wish to acknowledge the financial support received from the Spanish government, Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/10.13039/501100011033, the support for the research group, Project IT949–16, provided by the Dept. Educación, Política Lingüística y Cultura from the regional Basque Government, and Program BIKAINTEK 2020 (Ref. 012-B2/ 2020) provided by the Dept. Desarrollo Económico, Sostenibilidad y Medio Ambiente from the regional Basque Government.
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Muñoyerro, A., Hernández, A., Urizar, M., Altuzarra, O. (2022). General Procedure for Path Generation Synthesis Based on Kinematic Constraints. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_29
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DOI: https://doi.org/10.1007/978-3-031-08140-8_29
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