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Analysis of Planar Reconfigurable Motion Generators

[+] Author Affiliations
Venkatesh Venkataramanujam, Pierre Larochelle

Florida Institute of Technology, Melbourne, FL

Paper No. DETC2014-34242, pp. V05AT08A053; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This article presents the kinematic analysis of a new class of mechanical devices called planar Reconfigurable Motion Generators (RMGs) for multi-phase motion generation tasks having only a slight change in the desired motion. The concepts of configuration matrices and state vectors are introduced as a novel way to represent planar RMGs. The kinematic analysis of a planar RMG in it’s initial configuration to determine the associated adjustable link lengths and angles is discussed. The adjustable link lengths are used to determine the link vector and state vector of a RMG. Future work will involve the application of configuration matrices and state vectors to aid in both systematic analysis and synthesis of RMGs.

Copyright © 2014 by ASME
Topics: Generators



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