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
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(a) Three-link single degree-of-freedom coupled serial chain (SDCSC) mechanism; (b) typical end-effector paths of SDCSC mechanisms
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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
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(a) Geometric curve sampled with two different parameterizations (circles denote sampling locations); and (b) DFT transforms of the two sampled sets
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Flowchart of the Fourier-based optimization
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GUI-based designer interface aids the designer in specifying and synthesizing SDCSC mechanisms (shown for a desired square end-effector path)
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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
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Path tracing for a rectangular path (a) without and (b) with suitable dwell at corners
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Six assembly configurations of a three-link SDCSC mechanism synthesized by the Fourier-based synthesis method trace identical end-effector paths with different speeds
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Reconfigurable 3-link SDCSC mechanism: (a) parametric CAD model; and (b) fabricated physical prototype




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