KINEMATIC SYNTHESIS OF COUPLED SERIAL CHAIN MECHANISMS FOR PLANAR PATH FOLLOWING TASKS USING FOURIER METHODS

Proceedings of the ASME Design Engineering Technical Conference

Volumn 7B, Issue , 2000, Pages 1165-1173

  Pang, Yeow Wei ^a   Krovi, Venkat ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Fourier methods; Kinematic synthesis; optimization; path following

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FOURIER TRANSFORMS; KINEMATICS;

COUPLED SERIAL CHAIN MECHANISMS; DESIGN AND CONTROL; FORWARD KINEMATICS EQUATIONS; FOURIER METHODS; JOINT ROTATIONS; KINEMATIC SYNTHESIS; OPTIMISATIONS; PATH FOLLOWING; SERIAL CHAINS; SINGLE DEGREE OF FREEDOMS;

CHAINS;

EID: 77954265562     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2000/MECH-14188     Document Type: Conference Paper

References (16)

1. Angeles, J., and Liu, Z., 1993, "Chapter 11.5: Applications of Optimization to Mechanism Synthesis," In Modern Kinematics: Developments in the Last Forty Years, Erdman, A.G. (Ed.), John Wiley & Sons, New York.
2. Chedmail, P., 1998, "Chapter 1-5: Optimization of Multi-DOF Mechanisms," Computational Methods in Mechanical Systems: Mechanism Analysis, Synthesis and Optimization, Springer- Verlag, Berlin, Heigelberg.
3. Farin G., 1997, Curves and Surfaces for Computer-Aided Geometric Design: A Practical Guide, 4th Ed., Academic Press, San Diego, CA.
4. Figliolini, G., and Ceccarelli, M., 1998, "A Motion Analysis for One-D. 0. F. Anthropomorphic Finger Mechanism," Proceedings of the 1998 ASME Design Engineering Technical Conferences, DETC98/MECH-5985, Atlanta, GA.
5. Hunt, K.H., 1978, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford.
6. Kaufman, R.E., and Sandor, G.N., 1969, "Bicycloidal Crank - A New Four-Link Mechanism," Trans. ASME Journal of Engineering for Industry, Vol. 91(B), pp. 91-96.
7. Krovi, V., 1998, "Design and Virtual Prototyping of User- Customized Assistive Devices," Ph.D. Thesis. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA.
8. Oppenheim, A.V., and Schafer, R.W., 1992, Discrete-Time Signal Processing, Prentice Hall, Englewood Cliffs, NJ.
9. Pang, Y-W., 1999, "Fourier Methods for Synthesis of Coupled Serial Chain Mechanisms," Honors Thesis, Dept. of Mechanical Engineering, McGill University, Montreal, Canada URL: http://www.cim.mcgill.ca/~ypang/Thesis.html.
10. Rosheim, M., 1997, "In the Footsteps of Leonardo," IEEE Robotics and Automation Magazine, Vol 4, No.2, pp. 12-14.
11. Sandor, G.N., 1964, "On the Existence of a Cycloidal Burmester Theory in Planar Kinematics," Trans. ASME, 31, Journal of Applied Mechanics, Vol 86 (E), pp. 694-699.
12. Sandor, G.N., and Erdman, A.G., 1984, Advanced Mechanism Design: Analysis and Synthesis, Vol. 2, Prentice Hall International, Englewood Cliffs, NJ.
13. Tsai, L-W., 1995, "Design of Tendon-Driven Manipulators," ASME Journal of Mechanical Design," Vol. 117, No. 2B, pp. 80-86.
14. Ullah, I., and Kota S., 1997, "Optimal Synthesis of Mechanisms for Path Generation Using Fourier Descriptors and Global Search Methods," Trans. ASME Journal of Mechanical Design, Vol. 119, No. 4, pp. 504-510.
15. Vanderplaats, G. N., 1982, "Chapter 3: Unconstrained Optimization in N variables," Numerical Optimization Techniques in Engineering Design: With Applications, McGraw-Hill, New York, NY.
16. Wunderlich, W., 1970, "Chapter 33: Hohere Radlinien," Ebene Kinematik, B.I- Hochschultaschenbucher, No. 447/447A, Mannheim, Germany.