TY - GEN
T1 - A UNIFIED REAL-TIME MOTION GENERATION ALGORITHM FOR APPROXIMATE POSITION ANALYSIS OF PLANAR N-BAR MECHANISMS
AU - Lyu, Zhijie
AU - Liao, Wei
AU - Purwar, Anurag
N1 - Publisher Copyright:
© 2023 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 2023
Y1 - 2023
N2 - This paper introduces a novel real-time motion simulation algorithm that enables approximate position analysis of planar N-bar linkage mechanisms of arbitrary complexity. The algorithm was designed specifically for implementation in a web-based software platform, although not exclusively, with the aim of facilitating the simulation and design of mechanisms incorporating revolute and prismatic joints, for both students and industry practitioners. To ensure the efficient computation of positions, all geometric and actuation constraints of links in a mechanism were reduced to the same form, enabling the use of a unified approach. A key aspect of the algorithm is the use of a reinterpretation trick to convert all prismatic elements into a combination of links with only revolute joints. This simplification requires only two solvers while providing motion output within a desired degree of error. Furthermore, the proposed algorithm employs a solving path-finding procedure based on mobility analysis to further reduce simulation time. The resulting algorithm offers the ability to simulate serial, parallel, and hybrid mechanisms with any degree-of-freedom. Additionally, the time estimation for the simulation process and the estimation expression of a mechanism's structural complexity are provided. To demonstrate the practical utility of the proposed method, the algorithm is applied to several mechanisms as examples.
AB - This paper introduces a novel real-time motion simulation algorithm that enables approximate position analysis of planar N-bar linkage mechanisms of arbitrary complexity. The algorithm was designed specifically for implementation in a web-based software platform, although not exclusively, with the aim of facilitating the simulation and design of mechanisms incorporating revolute and prismatic joints, for both students and industry practitioners. To ensure the efficient computation of positions, all geometric and actuation constraints of links in a mechanism were reduced to the same form, enabling the use of a unified approach. A key aspect of the algorithm is the use of a reinterpretation trick to convert all prismatic elements into a combination of links with only revolute joints. This simplification requires only two solvers while providing motion output within a desired degree of error. Furthermore, the proposed algorithm employs a solving path-finding procedure based on mobility analysis to further reduce simulation time. The resulting algorithm offers the ability to simulate serial, parallel, and hybrid mechanisms with any degree-of-freedom. Additionally, the time estimation for the simulation process and the estimation expression of a mechanism's structural complexity are provided. To demonstrate the practical utility of the proposed method, the algorithm is applied to several mechanisms as examples.
KW - geometric constraints
KW - graph-based constraint solvers
KW - Kinematic simulation
KW - mobility analysis
KW - prismatic joint
UR - https://www.scopus.com/pages/publications/85178600413
U2 - 10.1115/DETC2023-117159
DO - 10.1115/DETC2023-117159
M3 - Conference contribution
AN - SCOPUS:85178600413
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 47th Mechanisms and Robotics Conference (MR)
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023
Y2 - 20 August 2023 through 23 August 2023
ER -