Abstract
A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for spatial CC kinematic chains is presented. The methodology uses an analytic representation of the spatial CC dyad’s rigid body constraint equation in combination with an algebraic geometry formulation of the perpendicular screw bisector to yield designs that exactly reach the prescribed pick & place locations while approximating an arbitrary number of guiding locations. The result is a dimensional synthesis technique for mixed exact and approximate motion generation that utilizes only algebraic geometry and does not require the use of any iterative optimization algorithms or a metric on spatial displacements. An example that demonstrates the synthesis technique is included.
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Acknowledgements
Collaborations with Prof. Chintien Huang of National Cheng Kung University (NCKU) of Tainan, Taiwan are sincerely acknowledged. This material is based upon work supported by the National Science Foundation (NSF) under Grant #1132629. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the NSF.
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Larochelle, P. (2012). Synthesis of Spatial CC Dyads and 4C Mechanisms for Pick & Place Tasks with Guiding Locations. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_55
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DOI: https://doi.org/10.1007/978-94-007-4620-6_55
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