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Configuration Space Analysis and Synthesis of Planar Variable Kinematic Joints

[+] Author Affiliations
Brian J. Slaboch, Philip A. Voglewede

Marquette University, Milwaukee, WI

Paper No. DETC2012-71146, pp. 669-677; 9 pages
doi:10.1115/DETC2012-71146
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

This paper presents a new approach to the analysis and synthesis of planar variable kinematic joints using a configuration space approach. The advantage of this approach is that the configuration space representation contains both the joint topology and the configuration variables. Based on the same configuration space, different combinations of higher pair equivalent revolute and prismatic joints can be used to analyze and synthesize planar variable kinematic joints. Two practical examples will be presented to illustrate the proposed method.

Copyright © 2012 by ASME
Topics: Kinematics

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