AN INVARIANT REPRESENTATION OF COUPLER CURVES USING A VARIATIONAL AUTOENCODER: APPLICATION TO PATH SYNTHESIS OF FOUR-BAR MECHANISMS

This paper focuses on the representation and synthesis of coupler curves of planar mechanisms using a deep neural network. While the path synthesis of planar mechanisms is not a new problem, the effective representation of coupler curves in the context of neural networks has not been fully explored. This study compares four commonly used features or representations of four-bar coupler curves: Fourier descriptors, wavelets, point coordinates, and images. The results demonstrate that these diverse representations can be unified using a generative AI framework called Variational Autoencoder (VAE). This study shows that a VAE can provide a standalone representation of a coupler curve, regardless of the input representation, and that the compact latent dimensions of the VAE can be used to describe coupler curves of four-bar linkages. Additionally, a new approach that utilizes a VAE in conjunction with a fully connected neural network to generate dimensional parameters of four-bar linkage mechanisms is proposed. This research presents a novel opportunity for automated conceptual design of mechanisms for robots and machines.