Applications of kinematic/kinetic performance tools in synthesis of Multi-D.O.F. Mechanisms

Ming Yih Lee, Arthur G. Erdman, Yevsey Gutman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

Original languageEnglish (US)
Title of host publicationFinite Elements/Computational Geometry; Computers in Education; Robotics and Controls
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages279-290
Number of pages12
ISBN (Electronic)9780791806234, 9780791897768
DOIs
StatePublished - 1991
EventASME 1991 Design Technical Conferences, DETC 1991 - Miami, United States
Duration: Sep 22 1991Sep 25 1991

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2

Conference

ConferenceASME 1991 Design Technical Conferences, DETC 1991
Country/TerritoryUnited States
CityMiami
Period9/22/919/25/91

Bibliographical note

Funding Information:
Acknowledgements - The authors would like to thank the National Science Foundation for their support of this research under grant No. MSS-9012456. Also the help of Mark Benner in reviewing the manuscript is appreciated.

Publisher Copyright:
© 1991 American Society of Mechanical Engineers (ASME). All rights reserved.

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