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Synthesis of an NR Robot With Four-Bar Constraining Modules

[+] Author Affiliations
Brandon Y. Tsuge, J. Michael McCarthy

University of California, Irvine, Irvine, CA

Paper No. DETC2014-35371, pp. V05AT08A072; 6 pages
doi:10.1115/DETC2014-35371
From:
  • 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

abstract

This paper uses coupler-path synthesis to design four-bar linkage modules that constrains the movement of links in an nR serial chain. The goal is to formulate a general procedure for path-synthesis of a robotic system using four-bar linkages. A desired end-effector trajectory is transformed into a secondary trajectory that is used for nine-point synthesis of a constraining four-bar linkage. This procedure constrains an nR chain to become a 4n-2 bar linkage. An example presents the constraint of a 2R chain to a six-bar that has a prescribed trajectory for an end-effector point.

Copyright © 2014 by ASME

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