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A Motion Synthesis Approach to Solving Alt-Burmester Problems by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data

[+] Author Affiliations
Shashank Sharma, Anurag Purwar, Q. Jeffrey Ge

Stony Brook University, Stony Brook, NY

Paper No. DETC2018-85567, pp. V05BT07A077; 12 pages
doi:10.1115/DETC2018-85567
From:
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5181-4
  • Copyright © 2018 by ASME

abstract

This paper presents a generalized framework to solve m-pose, n-path points mixed synthesis problems, known as Alt-Burmester problems, using a task-driven motion synthesis approach. We aim to unify the path and motion synthesis problems into an approximate mixed synthesis framework. Fourier descriptors are used to establish a closed-form relationship between the path and orientation data. This relationship is then exploited to formulate mixed synthesis problems into pure motion synthesis ones. We use an efficient algebraic fitting based motion synthesis algorithm to enable simultaneous type and dimensional synthesis of planar four-bar linkages.

Copyright © 2018 by ASME

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