Advertisement

Synthesis of Spatial mechanism CS-3SS for Multi-Phase Body Guidance

  • Wen-Yeuan ChungEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

The spatial mechanism CS-3SS with two degrees of freedom is synthesized in order to execute two-phase body guidance by means of adjusting link lengths or positions of fixed pivots. This mechanism consists of fixed base, moving platform and four supporting legs. The cylindrical joint is the input. A special feature of CS-3SS is that it is analogous to a spherical Assur kinematic chain after the C joint moves to a specified position or is fixed, and the configurations can thus be analyzed successfully. The maximum number of precision poses that can be assigned by using CS-3SS is analyzed. Techniques of synthesizing mechanisms with the aid of optimization search are illustrated. Two necessary conditions are proposed to get rid of mechanisms with branch defect. If the lengths of supporting legs remain the same and the positions of fixed pivots are adjustable, a numerical example of five precision poses for each phase is discussed. The process of synthesis, planning of objective functions, evaluation of branch defect, and performance of the mechanism are all illustrated. If only the lengths of supporting legs are adjustable, an example with five poses and three poses for both phases is shown.

Keywords

Spatial mechanism CS-3SS body guidance multi-phase branch defect 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Beyer, R: Kinematic Synthesis of Mechanism. Chapman & Hall, (1963).Google Scholar
  2. 2.
    Chiang, C. H.: Kinematics and Design of Planar Mechanisms. Krieger Publishing Company, Malabar, FL, (2000).Google Scholar
  3. 3.
    Russell, K., Shen, J.: Planar Four-Bar Motion and Path Generation with Order and Branching Conditions. Journal of Advanced Mechanical Design, Systems, and Manufacturing. 5(4), p. 264-273, (2011).CrossRefGoogle Scholar
  4. 4.
    Hassaan, G.A., Al-Gamil, M.A., Lashin, M.M.: New Approach for the Synthesis of Planar 4-Bar Mechanisms for 2 Coupler-Positions Generation. New York Science Journal. 5, p. 86-90, (2012).Google Scholar
  5. 5.
    Ahmad, A. and Waldron, K. J.: Synthesis of adjustable planar 4-bar mechanisms. Mechanism and Machine Theory. 14, p. 405–411, (1979).CrossRefGoogle Scholar
  6. 6.
    Zhou, H. and Cheung, H. M.: Adjustable four-bar linkages for multi-phase motion generation. Mechanism and Machine Theory. 39, p. 261-279, (2004).CrossRefGoogle Scholar
  7. 7.
    Hunt, K. H.: Kinematic Geometry of Mechanisms. Oxford University, (1978).Google Scholar
  8. 8.
    Uicker, J. J., Pennock, G. R., Shigley, J. E.: Theory of Mechanisms and Machines. Oxford, (2011).Google Scholar
  9. 9.
    Russell K. and Sodhi R. S.: Kinematic synthesis of adjustable RRSS mechanisms for multi-phase motion generation. Mechanism and Machine Theory. 36(8), p. 939-952, (2001).MathSciNetCrossRefGoogle Scholar
  10. 10.
    Russell K. and Sodhi R. S.: Kinematic synthesis of RRSS mechanisms for multi-phase motion generation with tolerances. Mechanism and Machine Theory. 37(3), p. 279-294, (2002).MathSciNetCrossRefGoogle Scholar
  11. 11.
    Chung W.Y.: Synthesis of spatial mechanism UR-2SS for path generation. ASME J. Mech. Rob. 7(4), p. 041009, (2015).CrossRefGoogle Scholar
  12. 12.
    Wang, P. L., Taha, H. E., McCarthy, J. M.: Synthesis of a Flapping Wing Mechanism Using a Constrained Spatial RRR Serial Chain. ASME J. Mech. Rob. 10(1), p. 011005 (2018).CrossRefGoogle Scholar
  13. 13.
    Wang, P. L., McCarthy, J. M.: Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch. ASME J. Mech. Rob. 10(2), p. 025003 (2018).CrossRefGoogle Scholar
  14. 14.
    Wang, P. L., Rhem, U., McCarthy, J. M.: Design of a Spatial RPR-2SS Valve Mechanism. ASME J. Mech. Rob. 10(4), p. 044504 (2018).CrossRefGoogle Scholar
  15. 15.
    Chung, W. Y.: Synthesis and analysis of spatial CS-3SS mechanism for body guidance. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 229, p. 2455–2466 (2015).Google Scholar
  16. 16.
    Chung W.Y.: Design of Spatial Mechanism CS-3SS for Two-phase Body Guidance, 34th CSME, 12752, (2017) (in Chinese).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Chinese Culture UniversityTaipeiTaiwan

Personalised recommendations