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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
doi:10.1115/DETC2004-57422
From:
  • 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

abstract

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

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