Full Content is available to subscribers

Subscribe/Learn More  >

The Synthesis of Robust Spherical Motion Generators

[+] Author Affiliations
Khalid Al-Widyan, Jorge Angeles

McGill University, Montreal, Quebec, Canada

Paper No. DETC2004-57422, pp. 1119-1127; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The synthesis of spherical motion generators in the presence of an incomplete set of finitely-separated attitudes is discussed in this paper. Given that five attitudes of the coupler link define a discrete set of dyads, any number of attitudes smaller than five is considered incomplete in this paper. The attitudes completing the set are determined so as to produce a robust linkage against variations in these attitudes. To this end, a theoretical framework as well as a general methodology for robust synthesis are laid down. Robustness is needed in this context to overcome the presence of uncertainty due to the selection of the intermediate attitudes, which many a time are left up to the mechanism designer’s judgment. To validate the concepts and illustrate the application of the methodology proposed here, we include a numerical example.

Copyright © 2004 by ASME
Topics: Motion , Generators



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In