TY - GEN
T1 - From 5-SS platform linkage to four-revolute jointed planar, spherical and Bennett mechanisms
AU - Ge, Xin
AU - Purwar, A.
AU - Ge, Q. J.
N1 - Publisher Copyright:
© Copyright 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - Recently, we developed a novel approach to the problem of geometric design of 5-SS platform linkages such that its moving points are constrained on a sphere or a plane. Dual quaternions are used to obtain the bilinear design equations with seven design variables, which can be further recast into a linear equation with 16 design variables with a set of simple proportional relationships. This leads to a novel algorithm that reduces the kinematic design problem to that of null space analysis followed by a generalized eigenvalue problem. In this paper, we show that the same approach leads to a unified algorithm for synthesizing planar, spherical and spatial Bennet mechanisms with four revolute joints as over-constrained four-revolute jointed mechanisms in three dimensional space. Numerical examples are given in the end.
AB - Recently, we developed a novel approach to the problem of geometric design of 5-SS platform linkages such that its moving points are constrained on a sphere or a plane. Dual quaternions are used to obtain the bilinear design equations with seven design variables, which can be further recast into a linear equation with 16 design variables with a set of simple proportional relationships. This leads to a novel algorithm that reduces the kinematic design problem to that of null space analysis followed by a generalized eigenvalue problem. In this paper, we show that the same approach leads to a unified algorithm for synthesizing planar, spherical and spatial Bennet mechanisms with four revolute joints as over-constrained four-revolute jointed mechanisms in three dimensional space. Numerical examples are given in the end.
UR - https://www.scopus.com/pages/publications/85007565907
U2 - 10.1115/DETC2016-60574
DO - 10.1115/DETC2016-60574
M3 - Conference contribution
AN - SCOPUS:85007565907
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 40th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -