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TECHNICAL PAPERS

Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms

[+] Author and Article Information
Venkat Krovi, G. K. Ananthasuresh, Vijay Kumar

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104-6315

J. Mech. Des 123(3), 359-366 (Oct 01, 1999) (8 pages) doi:10.1115/1.1370977 History: Accepted October 01, 1999
Copyright © 2001 by ASME
Topics: Chain , Design , Equations , Rotation
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References

Figures

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(a) Spatial R-R dyad with two degrees of freedom; (b) the coupled R-R dyad with only one degree of freedom
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Single crank passing through two points in space
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Spatial R-R dyad passing through three design positions
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The nullspace dyad, a geometric interpretation of M
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Nullspace triad, a geometric interpretation of the nullspace of M
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(a) Optimized coupled R-R dyad OLMN of example 1 shown in its first position; (b) snapshots of the optimized dyad of example 1 during its entire motion
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(a) Optimized coupled R-R dyad OLMN of example 2 shown in its first position; (b) snapshots of the optimized dyad of example 2 during its entire motion

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