TY - GEN
T1 - A unified algorithm for geometric design of platform linkages with spherical and plane constraints
AU - Li, Xiangyun
AU - Ge, Q. J.
AU - Gao, Feng
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - This paper studies the constrained motion of a rigid body such that one or more of its points stays on a sphere or a plane. It extends Innocenti's spatial Burmester problem from purely spherical constraints to include any combination of spherical and planar constraints for seven position synthesis of a spatial rigid body. The present paper provides a unified formulation using homogeneous coordinates and dual quaternions for simultaneous dimensional and type synthesis of spatial platform linkages and manipulators involving spherical and planar constraints. The algorithm is an extension of our previous work on unified solution for planar Burmester problem for geometric synthesis of planar dyads involving a combination of revolute and prismatic joints.
AB - This paper studies the constrained motion of a rigid body such that one or more of its points stays on a sphere or a plane. It extends Innocenti's spatial Burmester problem from purely spherical constraints to include any combination of spherical and planar constraints for seven position synthesis of a spatial rigid body. The present paper provides a unified formulation using homogeneous coordinates and dual quaternions for simultaneous dimensional and type synthesis of spatial platform linkages and manipulators involving spherical and planar constraints. The algorithm is an extension of our previous work on unified solution for planar Burmester problem for geometric synthesis of planar dyads involving a combination of revolute and prismatic joints.
UR - https://www.scopus.com/pages/publications/84925989510
U2 - 10.1115/DETC201435218
DO - 10.1115/DETC201435218
M3 - Conference contribution
AN - SCOPUS:84925989510
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -