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Kinematic Synthesis of Planar, Shape-Changing Rigid Body Mechanisms for Design Profiles With Significant Differences in Arc Length

[+] Author Affiliations
Shamsul A. Shamsudin, Andrew P. Murray, David H. Myszka

University of Dayton, Dayton, OH

James P. Schmiedeler

University of Notre Dame, Notre Dame, IN

Paper No. DETC2011-47657, pp. 325-334; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper presents a kinematic procedure to synthesize planar mechanisms capable of approximating a shape change defined by a general set of curves. These “morphing curves”, referred to as design profiles, differ from each other by a combination of displacement in the plane, shape variation, and notable differences in arc length. Where previous rigid-body shape-change work focused on mechanisms composed of rigid links and revolute joints to approximate curves of roughly equal arc length, this work introduces prismatic joints into the mechanisms in order to produce the different desired arc lengths. A method is presented to inspect and compare the profiles so that the regions are best suited for prismatic joints can be identified. The result of this methodology is the creation of a chain of rigid bodies connected by revolute and prismatic joints that can approximate a set of design profiles.

Copyright © 2011 by ASME



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