Five precision points synthesis of spatial RRR manipulators using interval analysis

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002

Volumn 5, Issue , 2002, Pages 635-644

  Lee, Eric ^a   Mavroidis, Constantinos ^a   Merlet, Jean Pierre ^b  

^a RUTGERS UNIVERSITY   (United States)

^b INRIA   (France)

Author keywords

Geometric design; Interval analysis; Robot manipulators

Indexed keywords

DESIGN EQUATION; DESIGN SOLUTIONS; GEOMETRIC DESIGN; GEOMETRIC PARAMETER; INTERVAL ANALYSIS; INTERVAL ANALYSIS METHOD; INTERVAL METHODS; PRECISION POINT; ROBOT MANIPULATOR; ROBOT MANIPULATORS; SPATIAL POSITIONS;

FLEXIBLE MANIPULATORS; GEOMETRY; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS; TECHNICAL PRESENTATIONS; MACHINE DESIGN;

MACHINE DESIGN; MANIPULATORS;

EID: 0036974450     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (29)

1. Suh, C. H., and Radcliffe, C. W., 1978, Kinematics and Mechanism Design, Wiley and Sons, New York, New York.
2. Tsai, L. W., 1972, Design of Open Loop Chains for Rigid Body Guidance, Ph.D. Thesis, Department of Mechanical Engineering, Stanford University
3. Roth, B., 1986, .Analytic Design of Open Chains,. Proceedings of the Third International Symposium of Robotic Research, Editors: O. Faugeras and G. Giralt, MIT Press.
4. Bodduluri, M., Ge, J., McCarthy, M. J. and Roth, B., 1993, "The Synthesis of Spatial Linkages," in Modern Kinematics: Developments in the Last Forty Years, Editor Erdman A., John Willey and Sons.
5. Raghavan, M. and Roth, B., 1995, .Solving Polynomial Systems for the Kinematic Analysis and Synthesis of Mechanisms and Robot Manipulators,. Transactions of the ASME, Journal of Mechanical Design, Vol. 117, pp.71-78.
6. Erdman, A. G. and Sandor, G. N., 1997, Mechanism Design: Analysis and Synthesis, Vol. 1. Third Edition, Prentice-Hall, Englewood Cliffs, N.J.
7. Sandor, G. N. and Erdman, A. G., 1984, Advanced Mechanism Design: Analysis and Synthesis, Vol. 2. Prentice- Hall, Englewood Cliffs, N.J.
8. Tsai, L. and Roth, B., 1973, "A Note on the Design of Revolute-Revolute Cranks," Mechanisms and Machine Theory, Vol. 8., pp. 23-31.
9. Roth, B., 1986, "Analytical Design of Two-Revolute Open Chains," Proceedings of the Sixth CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, The MIT Press, Cambridge, MA, Malczyk G. and Morecki A. (eds.), pp. 207-214.
10. Perez, A. and McCarthy, M. J., 2000, "Dimensional Synthesis of Spatial RR Robots," Advances in Robot Kinematics, Lenarčič J. (ed.), Piran-Portoroz, Slovenia, June 26-30, 2000.
11. Mavroidis, C., Lee, E. and Alam, M., 2001, "A New Polynomial Solution to the Geometric Design Problem of Spatial R-R Robot Manipulators Using the Denavit and Hartenberg Parameters," Transactions of the ASME, Journal of Mechanical Design, Vol. 123.
12. Huang, C. and Chang, Y.-J., 2000, "Polynomial Solution to the Five-Position Synthesis of Spatial CC Dyads via Dialytic Elimination," Proceedings of the ASME Design Technical Conferences, September 10-13, 2000, Baltimore MD, Paper Number DETC2000/MECH-14102.
13. Murray, A. P. and McCarthy, J. M., 1999, "Burmester Lines of a Spatial Five Position Synthesis from the Analysis of a 3-CPC Platform," Transactions of the ASME, Journal of Mechanical Design, Vol. 121, pp. 45-49.
14. Neilsen, J. and Roth, B., 1995, "Elimination Methods for Spatial Synthesis," 1995 Computational Kinematics, Edited by Merlet J. P. and Ravani, B., Vol. 40 of Solid Mechanics and It's Applications, pp. 51-62, Kluwer Academic Publishers.
15. Innocenti, C., 1994, "Polynomial Solution of the Spatial Burmester Problem," Mechanism Synthesis and Analysis, ASME DE-Vol. 70,.pp. 161-166.
16. McCarthy, M., 2000, "Chapter 11: Algebraic Synthesis of Spatial Chains," in The Geometric Design of Linkages, New York, McGraw Hill Book Company.
17. Morgan, A. P., Wampler, C. W. and Sommese, A. J., 1990, "Numerical Continuation Methods for Solving Polynomial Systems Arising in Kinematics," Transactions of the ASME, Journal of Mechanical Design, Vol. 112, pp. 59-68.
18. Roth, B. and Freudenstein, F., 1963, "Synthesis of Path Generating Mechanisms by Numerical Methods," Transactions of the ASME, Journal of Engineering for Industry, Vol. 85B, pp. 298-306.
19. Morgan, A. P. and Wampler, C. W. 1990, "Solving a Planar Four-Bar Design Problem Using Continuation," Transactions of the ASME, Journal of Mechanical Design, Vol. 112, pp. 544-550.
20. Wampler, C. W., Morgan, A. P. and Sommese, A.J., 1992, "Complete Solution of the Nine-Point Path Synthesis Problem for Four-Bar Linkages," Transactions of the ASME, Journal of Mechanical Design, Vol. 114, pp. 153-159.
21. Dhingra, A. K., Cheng, J. C. and Kohli, D., 1994, "Synthesis of Six-Link, Slider-Crank and Four-Link Mechanisms for Function, Path and Motion Generation Using Homotopy With m-Homegenization," Transactions of the ASME, Journal of Mechanical Design, Vol. 116, pp. 1122-1130.
22. Lee E. and Mavroidis C., "Solving the Geometric Design Problem of Spatial 3R Robot Manipulators Using Polynomial Continuation," Journal of Mechanical Design, Transactions of the ASME, 2002 (in press).
23. Moore, R. E., Interval Analysis, Prentice Hall, Englewood Cliffs, NJ, 1966.
24. Moore, R. E., "Automatic error analysis in digital computation", Lockheed Missiles and Space Co. Technical Report LMSD-48421, Palo Alto, CA, 1959.
25. Neumaier, A., Interval Methods for Systems of Equations, PHI Series in Computer Science, Cambridge University Press, Cambridge, 1990.
26. Collavizza, M., Deloble F. and Rueher, M., "Comparing partial consistencies", Reliable Computing, Vol. 5, pp 1-16, 1999.
27. Tapia, R.A, "The Kantorovitch theorem for Newton's method", American Mathematic Monthly, Vol. 78, Number 1.ea, pp 389-392, 1971.
28. Yamamura, K. and Kawata, H. and Tokue, A., "Interval solution of nonlinear equations using linear programming", BIT, Vol. 38, Number 1, pp 186-199, 1998.
29. Pieper, D. and Roth, B., 1969, "The Kinematics of Manipulators under Computer Control," Proceedings of the Second World Congress on the Theory of Machines and Mechanisms, Zakopane, Poland, Vol. 2, pp. 159-16