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RESEARCH PAPERS: Design Automation Papers

Spatial Kinematic Synthesis of Adaptive Hard-Automation Modules: An RS-SRR-SS Adjustable Spatial Motion Generator

[+] Author and Article Information
G. N. Sandor, S. P. Yang, L. J. Xu, P. De

University of Florida, Department of Mechanical Engineering, Gainesville, FL 32611

J. Mech., Trans., and Automation 108(3), 292-299 (Sep 01, 1986) (8 pages) doi:10.1115/1.3258728 History: Received June 11, 1985; Online November 19, 2009

Abstract

Purely mechanical, single-actuator adaptive hard-automation modules can perform highly repetitive simple tasks much more economically, energy-efficiently and accurately than multi-degree-of-freedom, multiple-actuator robotic manipulators. As an example, an RS-SRR-SS adjustable spatial motion generator is synthesized by analytical methods with two exact prescribed positions (including orientations) for each of two different motion tasks, by numerical methods to solve a nonlinear system of equations and by optimization techniques to minimize the motion errors at additional, approximately prescribed positions.

Copyright © 1986 by ASME
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