Abstract
A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for spherical RR kinematic chains is presented. The methodology uses an analytic representation of the spherical RR dyad’s rigid body constraint equation in combination with classical geometric constructions for exact motion synthesis to yield designs that exactly reach two of the prescribed orientations while approximating the remaining. The result is a mixed exact and approximate motion dimensional synthesis technique that is applicable to spherical open and closed kinematic chains. Here, we specifically address the design of spherical RR open and 4R closed chains since they form the foundation of a new class of devices being developed called PODs or Part Orienting Devices. An example that demonstrates the synthesis technique is included.
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Larochelle, P. (2008). Synthesis of Part Orienting Devices for Spatial Assembly Tasks. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_9
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_9
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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