0
Article

Fourier Methods for Kinematic Synthesis of Coupled Serial Chain Mechanisms

[+] Author and Article Information
Xichun Nie

Department of Mechanical Engineering, Center for Intelligent Machines, McGill University, 3480 University Street, No. 421, Montreal, Quebec, Canadaemail: xichun_nie@hotmail.com

Venkat Krovi

Department of Mechanical and Aerospace Engineering, State University of New York at Buffalo, 318 Jarvis Hall, Buffalo, NYemail: vkrovi@eng.buffalo.edu

J. Mech. Des 127(2), 232-241 (Mar 25, 2005) (10 pages) doi:10.1115/1.1829726 History: Received December 05, 2003; Revised June 02, 2004; Online March 25, 2005
Copyright © 2005 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
(a) Three-link single degree-of-freedom coupled serial chain (SDCSC) mechanism; (b) typical end-effector paths of SDCSC mechanisms
Grahic Jump Location
Potential use of a passive manipulation assist device based on the SDCSC configuration to form a “virtual reconfigurable manipulation guide-rail” in an industrial setting
Grahic Jump Location
(a) Geometric curve sampled with two different parameterizations (circles denote sampling locations); and (b) DFT transforms of the two sampled sets
Grahic Jump Location
Flowchart of the Fourier-based optimization
Grahic Jump Location
GUI-based designer interface aids the designer in specifying and synthesizing SDCSC mechanisms (shown for a desired square end-effector path)
Grahic Jump Location
Improved path tracing of a rectangular-path with increasing numbers of links: (a) two-link, (b) three-link, (c) four-link, and (d) five-link
Grahic Jump Location
Path tracing for a rectangular path (a) without and (b) with suitable dwell at corners
Grahic Jump Location
Six assembly configurations of a three-link SDCSC mechanism synthesized by the Fourier-based synthesis method trace identical end-effector paths with different speeds
Grahic Jump Location
Reconfigurable 3-link SDCSC mechanism: (a) parametric CAD model; and (b) fabricated physical prototype

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In