Abstract
AUCASYN is an intelligent Automatic Computer Aided Synthesis program for mechanisms and machines developed at the University of Oulu, Finland. It includes type synthesis, number synthesis for the degree of freedom of mechnisms and machines, workspace definitions for robots and machines, a complete classification of 4-bar mechanisms and kinematic synthesis of 4-bar developed programs. The principles of volume modelling in robot kinematics using the DADS-3D (Dynamic Automation and Design System) -program with MSP,the Mechanical Simulation Package and the IRIS (Integrated Raster Imaging System) -program are used to preview the motions of robots on SUN and Silicon Graphics workstations. A robot can be analyzed by the DADS-3D analysis program using the following methods: kinematic analysis, dynamic analysis, static analysis, inverse dynamic analysis, assembly analysis and control/feedback analysis. Computer aided kinematic synthesis and analysis are integrated together.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
ADAMS (1980) User’s guide to ADAMS. Mechanical Dynamics Inc., Ann Aurbor, Michigan 48104, fifth edition.
DADS (1986) - User’s manual, Example manual, Supplement and Teoretical manual, Rev 5.0, Computer Aided Software Inc.
Duffy, J. (1980) Analysis of mechanisms and robot manipulators. Erward Arnold, 419 p.
Erdman, A. G. (1985) Computer-aided mechanism design issue, Mechanisms and Machine Theory, vol. 20, no. 4, pp. 245–365.
Fang, W. E., Freudenstein, F., (1988) The stratified representation of mechanisms, Trends and developments in mechanisms, machines, and robotics -1988, volume one, ASME, pp. 115–123.
Haug, E.J., (1989) Computer-Aided Kinematics and Dynamics of Mechanical Systems, Volume I: Basic Methods,Allyn and Bacon, 500 p.
Hunt, K. H. (1978) Kinematic geometry of mechanisms. Oxford University Press, Walton Street, 465 p.
IMP (Integrated Mechanism Program), SDRG (1979) Mechanical Design Library, User’s manual. 2000 Eastman Drive, Milford, Ohio 45150.
Leinonen, T.E., Päärni, A.T. (1987) CAD Synthesis of 4-bar mechanism with ten design parameters, The Theory of Machines and Mechanism, proceeding of the 7th World Congress, IFTOMM, 17–22 september 1987, Sevilla, Spain, volume 2, pp. 961–964.
Leinonen, T.E., Päärni, A.T. (1989) On the type synthesis program for mechanisms and manipulators using graph theory. The fifht international symposium, Theory and practice of mechanisms, IFTOMM, Bucharest, Romania July 6–11, 1989, vol. I 2, pp. 489–497.
Leinonen, T.E., Päärni, A.T., (1989) On the definition of workspace for manipulators and robots using a CAE-workstation, ASME Computers in Engineering 1989, Conference and Exposition July 30-August 3, 1989, Anaheim, California, Volume 1, pp. 215–218.
Leinonen, T.E., Päärni, A.T., (1990) On computer aided solid modelling for manipulators’s and robot animation, CSME Mechanical Engineering Forum 1990, June 3–9, 1990, Toronto, Volume III, pp. 361–364.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer-Verlag Wien
About this paper
Cite this paper
Leinonen, T., Päärni, A. (1991). Computer-Aided Animation in Robot Kinematics. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_18
Download citation
DOI: https://doi.org/10.1007/978-3-7091-4433-6_18
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
eBook Packages: Springer Book Archive