Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms

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

Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104

J. Mech. Des 124(2), 301-312 (May 16, 2002) (12 pages) doi:10.1115/1.1464563 History: Received February 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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Different mechanism configurations: (a) single degree-of-freedom four-bar linkage; (b) multi-degree-of-freedom conventional, serial-chain linkage; (c) tendon-driven serial chain linkage; and (d) single-degree-of-freedom coupled serial chain mechanism.
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Typical end effector paths for a single-degree-of-freedom, coupled, serial-chain mechanism
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(a) Head controlled feeding telethesis (featuring the Coupled Serial Chain configuration). (b) Use as a passive manipulation assist “guide rail” in an industrial setting.
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(a) Schematic of operation of the head-controlled feeding device. (b) Physical and mathematical models of a 2-link SDCSC mechanism.
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Dimensional Synthesis solutions: (a) Sample SDCSC mechanism and 4-bar linkage solutions for an RBG problem. (b) Sample SDCSC mechanism tracing an elliptical shape for a PF problem.
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Auxiliary links are mounted at the tip of the SDCSC mechanism: (a) Rotational and (b) Translational.
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Sample SDCSC mechanism solution for tracing a hand-drawn S shaped curve (a) 2-link and (b) 3-link. (c) A 3-link SDCSC mechanism solution for tracing a scalene triangle. (d) Fitting the hand drawn S shaped curve by a 2-link SDCSC mechanism equipped with a linear translational auxiliary link.
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Schematic of a 2-link single degree-of-freedom coupled serial chain (SDCSC) mechanism supporting an end-effector load using a single base actuator and its complex number vector representation.
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Two precision point kinetostatic synthesis combined with minimization of the maximum absolute torque. Cases (I) Without Spring Assist (II) With Undeflected Springs Assembled at the Initial Configuration; and (III) With Undeflected Springs Assembled at a General Configuration. Figures (a) (c) and (e) depict the optimal mechanism moving between the start and end points. Figures (b), (d) and (f) show intermediate input-torque profiles converging to the optimal (solid line) profile. All the torque profiles satisfy the prescribed zero input-torque requirements at the start and finish.
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Desired input torque profile matching (a) Quadratic Profile T(ϕN)=ϕN2−0.6ϕN−0.16 and (b) Cubic Profile T(ϕN)=ϕN3−ϕN2+0.08ϕN+0.064 where ϕN=(ϕ/60). The final designed mechanism is required to support an applied load of F=[0,−1]TN at the end effector using the desired input torque profile (solid line). The intermediate non-optimal torque profiles are shown in dotted lines converging to the final optimal profile shown in dashed (– –) line.




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