Three-position synthesis of spherically constrained planar 3R chains

Kassim Abdul-Sater, Franz Irlinger, Tim C. Lueth

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

This paper presents a dimensional finite position synthesis procedure for a 8-bar linkage, that we call the spherically constrained planar 3R chain. The procedure aims at using the welldeveloped constraint-based synthesis equations of spherical RR chains in order to constrain a planar serial 3R guiding chain, synthesized before for a maximum number of three task poses. This maximum number of task positions results from the specific linkage topology, which requires to select specific axes of spherical RR chains. However, three-position synthesis allows it to apply a specific version of the dyad triangle equation of planar RR chains to the problem. A particular assumption forces that this version of the dyad triangle equation becomes nothing but the synthesis equation of a planar 3R chain, which is easily solved for the three prescribed task poses. An example is provided showing a synthesized spherically constrained planar 3R chain reaching three prescribed planar poses.

OriginalspracheEnglisch
Titel39th Mechanisms and Robotics Conference
Herausgeber (Verlag)American Society of Mechanical Engineers (ASME)
ISBN (elektronisch)9780791857144
DOIs
PublikationsstatusVeröffentlicht - 2015
VeranstaltungASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, USA/Vereinigte Staaten
Dauer: 2 Aug. 20155 Aug. 2015

Publikationsreihe

NameProceedings of the ASME Design Engineering Technical Conference
Band5C-2015

Konferenz

KonferenzASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Land/GebietUSA/Vereinigte Staaten
OrtBoston
Zeitraum2/08/155/08/15

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