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RESEARCH PAPERS: Mechanisms Papers

A Computer-Aided-Design Technique for the Optimum Synthesis of RRSS Path Generating Spatial Mechanisms With Prescribed Input Timing

[+] Author and Article Information
P. Premkumar, S. N. Kramer

Department of Mechanical Engineering, The University of Toledo, Toledo, OH 43606

J. Mech., Trans., and Automation 108(4), 538-542 (Dec 01, 1986) (5 pages) doi:10.1115/1.3258766 History: Received July 01, 1986; Online November 19, 2009

Abstract

With the current emphasis on automation, the need for single actuator mechanical devices that can perform simple repetitive tasks much more economically, energy-efficiently and accurately than multiple-degree-of-freedom, multiple-actuator robotic manipulators is greatly felt. This paper presents an optimum synthesis technique for the RRSS path generating spatial mechanism with prescribed input timing. The selective precision synthesis technique is used to formulate the nonlinear constraint equations involving accuracy neighborhoods and corresponding error envelopes and these are then solved using the generalized reduced gradient method of optimization. The mathematical formulation and derivation as well as numerical examples are presented in this paper.

Copyright © 1986 by ASME
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