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A Novel Algorithm for Solving Design Equations for Synthesizing Platform Linkages

[+] Author Affiliations
Xin Ge, Q. J. Ge

State University of New York at Stony Brook, Stony Brook, NY

Feng Gao

Shanghai Jiao Tong University, Shanghai, China

Paper No. DETC2015-47981, pp. V05CT08A049; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This paper revisits the problem of geometric design of platform linkages such that one or more of its points of the platform stays on a sphere or a plane. We develop a novel algorithm taking advantage of linear structure in the design constraint equations. The new algorithm reduces the problem of synthesizing platform linkages with spherical and plane constraints to a two-stepped process: null space analysis followed by a generalized eigenvalue problem. An example is provided to show the effectiveness of the algorithm.

Copyright © 2015 by ASME
Topics: Linkages , Algorithms , Design



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