Optimal synthesis of a spatial RRSS mechanism for path generation
In this article the authors use a special property of the trajectories of arbitrary coupler points for the synthesis of an RRSS mechanism to guide a point on the coupler through specified positions. When the trajectory of a point connected to the R-S link is orthographically projected to a plane orthogonal to the base link (R-S link), then its picture is an ellipse. The dimensions of this ellipse are given in the paper for arbitrary design of the linkage and an arbitrary point on the coupler. This opens the opportunity for a stepwise synthesis method. First, an orthographic projection is searched for, where the feature points are best fitting to a previously specified type of ellipse, using an optimization method. In this step, only the direction of the base link and linkage angles are specified. In a second step, link length parameters are computed using a genetic algorithm. In the third step, the remaining parameters that specify the complete mechanism, namely its position in space and the point connected to the coupler and generating the optimal trajectory in space are calculated based on the previous results. Using this approach of reducing the complexity of the whole problem to partial ones, that can be solved stepwise with fewer unknowns, decreases the computational time of the overall process and increases the accuracy. This is proven at hand of some examples known in the literature.
- A method for optimal path synthesis of four-link planar mechanisms
- Dimensional synthesis of the optimal RSSR mechanism for a set of variable design parameters
- Instant screw axis point synthesis of the RRSS mechanism
- scientific article; zbMATH DE number 238108
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- Classification of RRSS linkages
- Dimensional synthesis of the optimal RSSR mechanism for a set of variable design parameters
- Kinematic synthesis of adjustable RRSS mechanisms for multi-phase motion generation
- Kinematic synthesis of RRSS mechanisms for multi-phase motion generation with tolerances
- On the comparative optimal analysis and synthesis of four-bar function generating mechanism using different heuristic methods
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- Optimal synthesis of mechanisms with genetic algorithms
- Optimum dimensional synthesis of planar mechanisms with geometric constraints
- Synthesis of mechanisms for single and hybrid tasks using differential evolution
- Dimensional synthesis of the optimal RSSR mechanism for a set of variable design parameters
- Instant screw axis point synthesis of the RRSS mechanism
- Path synthesis of a finger-type gripping mechanism
- scientific article; zbMATH DE number 238108 (Why is no real title available?)
- Expanded spatial four-link motion and path generation with order and branch defect elimination
- A new type of compliant spatial four-bar (RSSR) mechanism
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