PERFORMANCE EVALUATION OF 4-BAR LINKAGES FOR RIGID-BODY GUIDANCE BASED ON GENERALIZED COUPLER CURVES

被引:5
作者
ANGELES, J
MA, O
机构
[1] Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montréal, QC
关键词
D O I
10.1115/1.2912744
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The concept of generalized coupler curves of linkages is introduced in this paper. Using this concept, the study of path generation and rigid-body guidance can be done within the same framework for analysis, synthesis and optimization of linkages. Moreover, a unified method of performance evaluation for rigid-body guidance is presented, that is applicable to four-bar linkages of any type, as long as the linkages have quadratic input-output or input-coupler functions. The method is an extension of the performance-evaluation method for path generation introduced in a previous paper. That method is based on the usual coupler curves, and hence, is only applicable to path-generation problems. The present method is based on generalized coupler curves, and is, thus, applicable to the problems of both path-generation and rigid-body guidance. It is oriented towards the iterative optimization of rigid-body-guidance tasks with four-bar linkages, and hence, considers numerical complexity as a determining issue. Numerical examples in which the method is applied to a planar four-bar linkage and a spherical four-bar linkage are included.
引用
收藏
页码:17 / 24
页数:8
相关论文
共 25 条
[21]  
Roth B., Finite-Position Theory Applied to Mechanism Synthesis, ASME Journal of Applied Mechanics, 89, pp. 599-605, (1967)
[22]  
Spring K., Euler Parameters and the Use of Quaternion Algebra in the Manipulation of Finite Rotations: A Review, Mechanism and Machine Theory, 21, 5, pp. 365-373, (1986)
[23]  
Strauchmann H., Kassamanian A.A., Rechnergestützte Analyse Des Rsrc-Mechanismus, Wiss. Z. Der T. U. Dresden, 26, 5, pp. 899-903, (1977)
[24]  
Worle H., Untersuchungen über Koppelkurven viergliedriger räumlicher Kurbelgetriebe, Konstruktion, 14, 10, pp. 390-392, (1962)
[25]  
Yang A.T., Freudenstein F., Application of Dual-Number Quaternions Algebra to the Analysis of Spatial Mechanism, ASME Journal of Applied Mechanics, 86, pp. 300-308, (1964)