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A Robust Solution of the Spherical Burmester Problem

[+] Author Affiliations
Jorge Angeles

McGill University, Montreal, QC, Canada

Shaoping Bai

Aalborg University, Aalborg, Denmark

Paper No. DETC2010-28189, pp. 783-790; 8 pages
doi:10.1115/DETC2010-28189
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

The problem of spherical four-bar linkage synthesis is revisited in this paper. The work is aimed at developing a robust synthesis method by taking into account both the formulation and the solution method. In addition, the synthesis of linkages with spherical prismatic joints is considered by treating them as a special case of the linkages under study. A two-step synthesis method is developed, which sequentially deals with equation-solving by a semigraphical approach and branching-detection. Examples are included to demonstrate the proposed method.

Copyright © 2010 by ASME

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