TY - GEN
T1 - Three-position synthesis of spherically constrained planar 3R chains
AU - Abdul-Sater, Kassim
AU - Irlinger, Franz
AU - Lueth, Tim C.
N1 - Publisher Copyright:
Copyright © 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84979072405&partnerID=8YFLogxK
U2 - 10.1115/DETC2015-47365
DO - 10.1115/DETC2015-47365
M3 - Conference contribution
AN - SCOPUS:84979072405
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 39th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -