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Research Papers: Mechanisms and Robotics

Dimensional Synthesis of Open Path Generator of Four-Bar Mechanisms Using the Haar Wavelet

[+] Author and Article Information
Jianwei Sun

School of Mechatronic Engineering,
Changchun University of Technology,
No. 2055, Yanan Road,
Changchun, Jilin 130012, China
e-mail: avensun@tom.com

Wenrui Liu

School of Mechatronic Engineering,
Changchun University of Technology,
No. 2055, Yanan Road,
Changchun, Jilin 130012, China
e-mail: wenruilv@126.com

Jinkui Chu

School of Mechanical Engineering,
Dalian University of Technology,
No. 2, Linggong Road, Ganjingzi District,
Dalian, Liaoning 116023, China
e-mail: chujk@dlut.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received January 15, 2015; final manuscript received May 4, 2015; published online June 16, 2015. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 137(8), 082303 (Aug 01, 2015) (8 pages) Paper No: MD-15-1027; doi: 10.1115/1.4030651 History: Received January 15, 2015; Revised May 04, 2015; Online June 16, 2015

This paper presents a synthesis method for the open path generation of a four-bar mechanism using the Haar wavelet. The synthesis method utilizes the wavelet transform and normalization to extract the wavelet output feature parameters (WOFP) of the open path. Analysis of the WOFP reveals a particular characteristic: for the same four-bar mechanism, not only do variations of the mechanism origin and angles and the proportional scaling of the linkage lengths have no influence on the details of the WOFP but the same holds true for the position of the point that generates the coupler curve. Based on this finding, a numerical atlas database comprises 192,596 groups of basic dimensional types was established and a method of matching recognition was proposed as well. According to the internal relationship of the wavelet characteristic dimension parameters (WCDP), the actual mechanism parameter values and position parameters of an objective four-bar mechanism can be calculated. Four examples are presented to verify the accuracy and practicality of the proposed theory.

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References

Figures

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Fig. 1

A four-bar mechanism within a coordinate system

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Fig. 2

Solution of the path generation problem

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Fig. 3

Example 2: (a) a comparison graph and (b) error graph

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Fig. 4

Example 3: (a) the prescribed curve and (b) a comparison graph

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Fig. 5

A three-dimensional illustration of the drilling machine: (a) drilling mechanism and (b) feed mechanism

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Fig. 6

The prescribed curve for example 4

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Fig. 7

Comparison and error graphs for example 4

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