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RESEARCH PAPERS

Assembly Configurations of Planar Multi-Loop Mechanisms With Kinematic Limitations

[+] Author and Article Information
David E. Foster

 Caterpillar, Inc., East Peoria, IL 61630-3130

Raymond J. Cipra

 Purdue University, School of Mechanical Engineering, 585 Purdue Mall, West Lafayette, IN 47907-2088

J. Mech. Des 128(4), 747-754 (Oct 05, 2005) (8 pages) doi:10.1115/1.2202143 History: Received May 20, 2005; Revised October 05, 2005

This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar multi-loop mechanisms with kinematic limitations, such as joint limits, link interference, collision with stationary obstacles, and constraint regions. First, a technique is given to describe numerically the satisfaction or violation of these kinematic limitations, and then it is applied to find the ACs of mechanisms with kinematic limitations. The method is valid for planar mechanisms with one or two degrees of freedom, and is illustrated with two examples.

Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

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Figure 5

Finding the distance from a line segment to a convex polygon

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Figure 6

Finding the distance from a line segment to a convex polygon

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Figure 1

Example of a revolute joint limit

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Figure 2

Value of VJ for a revolute joint limit

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Figure 3

Calculating the joint variable for a slider

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Figure 4

Finding the distance from a point to a convex polygon

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Figure 7

Finding the distance between two convex polygons

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Figure 8

The constraint region kinematic limitation

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Figure 9

Four-bar linkage for Example 1

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Figure 10

Adding the joint limit between links 1 and 2

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Figure 11

Adding the first loop

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Figure 12

Adding the constraint region (first AC)

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Figure 13

Adding the constraint region (Second AC)

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Figure 14

Four-bar linkage at constraint region limit

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Figure 15

Six-bar mechanism for Example 2

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Figure 16

Dimensions of link 4 and obstacle

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Figure 21

AC plots for six-bar linkage, with KLs

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Figure 17

Bounding curves for five-bar linkage, without KL

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Figure 18

Bounding curves for five-bar linkage, with KL considered

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Figure 19

Position of mechanism at point R in Fig. 1

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Figure 20

AC plot for six-bar linkage, without joint limit

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