Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms

Ming Yih Lee; Arthur G. Erdman; Yevsey Gutman

doi:10.1115/DETC1991-0130

Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms

Ming Yih Lee, Arthur G. Erdman, Yevsey Gutman

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

Original language	English (US)
Title of host publication	Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls
Publisher	American Society of Mechanical Engineers (ASME)
Pages	279-290
Number of pages	12
Volume	32
Edition	pt 2
ISBN (Electronic)	9780791806234, 9780791897768
ISBN (Print)	0791807487
DOIs	https://doi.org/10.1115/DETC1991-0130
State	Published - Dec 1 1991
Event	17th Design Automation Conference presented at the 1991 ASME Design Technical Conferences - Miami, FL, USA Duration: Sep 22 1991 → Sep 25 1991

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	2

Other

Other	17th Design Automation Conference presented at the 1991 ASME Design Technical Conferences
City	Miami, FL, USA
Period	9/22/91 → 9/25/91

Bibliographical note

Funding Information:
Acknowledgements - The authors would like to thank the National Science Foundation for their support of this research under grant No. MSS-9012456. Also the help of Mark Benner in reviewing the manuscript is appreciated.

Publisher Copyright:
© 1991 American Society of Mechanical Engineers (ASME). All rights reserved.

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10.1115/DETC1991-0130

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Lee, M. Y., Erdman, A. G., & Gutman, Y. (1991). Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms. In Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls (pt 2 ed., Vol. 32, pp. 279-290). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC1991-0130

Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms. / Lee, Ming Yih; Erdman, Arthur G.; Gutman, Yevsey.

Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls. Vol. 32 pt 2. ed. American Society of Mechanical Engineers (ASME), 1991. p. 279-290 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, MY, Erdman, AG & Gutman, Y 1991, Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms. in Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls. pt 2 edn, vol. 32, Proceedings of the ASME Design Engineering Technical Conference, vol. 2, American Society of Mechanical Engineers (ASME), pp. 279-290, 17th Design Automation Conference presented at the 1991 ASME Design Technical Conferences, Miami, FL, USA, 9/22/91. https://doi.org/10.1115/DETC1991-0130

Lee MY, Erdman AG, Gutman Y. Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms. In Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls. pt 2 ed. Vol. 32. American Society of Mechanical Engineers (ASME). 1991. p. 279-290. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC1991-0130

Lee, Ming Yih ; Erdman, Arthur G. ; Gutman, Yevsey. / Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms. Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls. Vol. 32 pt 2. ed. American Society of Mechanical Engineers (ASME), 1991. pp. 279-290 (Proceedings of the ASME Design Engineering Technical Conference).

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abstract = "Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.",

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N2 - Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

AB - Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

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Applications of kinematic/kinetic performance tools in synthesis of multi-D.O.F. mechanisms

Abstract

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Bibliographical note

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