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RESEARCH PAPERS: Mechanisms Papers

Position, Velocity, and Acceleration Synthesis of the RRSS Spatial Path-Generating Mechanism Using the Selective Precision Synthesis Method

[+] 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 111(1), 54-58 (Mar 01, 1989) (5 pages) doi:10.1115/1.3258971 History: Received August 01, 1988; Online November 19, 2009

Abstract

The inclusion of velocity and acceleration constraints is a crucial step in the coupling of the dynamics with the kinematics of spatial mechanisms. In this paper, an optimum synthesis technique is presented which allows an arbitrary combination of positions, velocities, and accelerations to be specified along with appropriate tolerances at one or more of the prescribed path points. The method of Selective Precision Synthesis is used to formulate nonlinear constraint equations which are then solved by the generalized reduced gradient method of optimization. This is significant since it paves the way for the coupling of mechanism dynamics with the kinematics of spatial mechanisms. The technique developed herein is general to all spatial mechanisms and is exemplified by the RRSS path-generating spatial mechanism.

Copyright © 1989 by ASME
Topics: Velocity , Accuracy
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