TY - GEN
T1 - Finite position synthesis of 5-SS platform linkages including partially specified joint locations
AU - Ge, Xin
AU - Purwar, Anurag
AU - Ge, Q. J.
N1 - Publisher Copyright:
Copyright © 2017 ASME.
PY - 2017
Y1 - 2017
N2 - A 5-SS platform linkage generates a one-degree-of-freedom motion of a moving platform such that each of five moving points on the platform is constrained on a sphere, or in its degenerated case, on a plane. It has been well established a 5-SS platform linkage can be made to guide though seven positions exactly. This paper investigates the cases when the number of given positions are less than seven that allows for partial specification of locations of the moving points. A recently developed novel algorithm with linear structure in the design equations has been extended for the solution of the problem. The formulation of this expanded motion generation problem unifies the treatment of the input positions and constraints on the moving and fixed joints associated with the 5-SS platform linkage. Numerical examples are provided to show the effectiveness of the unified algorithm.
AB - A 5-SS platform linkage generates a one-degree-of-freedom motion of a moving platform such that each of five moving points on the platform is constrained on a sphere, or in its degenerated case, on a plane. It has been well established a 5-SS platform linkage can be made to guide though seven positions exactly. This paper investigates the cases when the number of given positions are less than seven that allows for partial specification of locations of the moving points. A recently developed novel algorithm with linear structure in the design equations has been extended for the solution of the problem. The formulation of this expanded motion generation problem unifies the treatment of the input positions and constraints on the moving and fixed joints associated with the 5-SS platform linkage. Numerical examples are provided to show the effectiveness of the unified algorithm.
UR - https://www.scopus.com/pages/publications/85034866311
U2 - 10.1115/DETC2017-67809
DO - 10.1115/DETC2017-67809
M3 - Conference contribution
AN - SCOPUS:85034866311
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 41st Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
Y2 - 6 August 2017 through 9 August 2017
ER -