MAE 342 Dynamics of Machines. Types of Mechanisms. type and mobility
|
|
|
- Millicent Holt
- 5 years ago
- Views:
Transcription
1 MAE 342 Dynamics of Machines Types of Mechanisms Classification of Mechanisms by type and mobility
2 MAE 342 Dynamics of Machines 2 Planar, Spherical and Spatial Mechanisms Planar Mechanisms: all points on each part move only in. Image from Technische Universität Ilmenau. Images from Tiptop Industry Co., Ltd. Image from Northern Tool + Equipment Catalog Co.
3 MAE 342 Dynamics of Machines 3 Planar, Spherical and Spatial Mechanisms Spherical Mechanisms: all points on each part move only in. Image from Maarten Steurbaut. Images from the Laboratory for the Analysis and Synthesis of Spatial Movement. Images from Laboratoire de robotique, Université Laval.
4 MAE 342 Dynamics of Machines 4 Planar, Spherical and Spatial Mechanisms Spatial Mechanisms: points on each part can move in any direction in 3-dimensional space. Image from the Kinematic Models for Design Digital Library, Cornell University. Image from Image from Slika Image from the Special Session on Computer Aided Linkage Synthesis, ASME DETC 2002.
5 MAE 342 Dynamics of Machines 5 Degrees of freedom (DOF) is: the number of independent controls needed to position a body. Mathematically it is the number of independent variables needed to specify the position of a body. A planar body has DOF. A spherical body has DOF. A spatial body has DOF.
6 MAE 342 Dynamics of Machines 6 is: the number of degrees of freedom of a mechanism. If the number of planar bodies is n (and there are no joints) the mobility is. If one of the bodies is fixed, the mobility is. If the number of spatial bodies is n (and there are no joints) the mobility is. If one of the bodies is fixed, the mobility is.
7 MAE 342 Dynamics of Machines 7 Each type of joint imposes a certain number constraints (i.e., takes away a certain number of DOF from mechanism): Type of Joint Revolute variables Planar Mechanism DOF DOF removed Prismatic Cam Gear
8 MAE 342 Dynamics of Machines 8 Figure from Uicker et al., Theory of Machines and Mechanisms a) Revolute joint (R) Circular motion b) Prismatic joint (P) Rectilinear motion c) Screw joint (S) Helical motion d) Cylindrical joint (C) Cylindrical motion e) Spherical joint (G) Spherical motion f) Flat joint (F) Planar motion Figure from Unigraphics on-line documentation.
9 MAE 342 Dynamics of Machines 9 Type of Joint Revolute variables Spatial Mechanism DOF DOF removed Prismatic Screw Cylinderical Spherical Flat/Planar
10 MAE 342 Dynamics of Machines 10 Kutzbach Criteria for mobility (m) of: planar mechanisms: m = spatial mechanisms: m = where:
11 MAE 342 Dynamics of Machines 11 In Kutzbach criteria a) If m > 0 b) If m = 0 c) if m < 0
12 MAE 342 Dynamics of Machines 12 What is the mobility in these examples? a) b) c) d) Figures from Uicker et al., Theory of Machines and Mechanisms, 2003
13 MAE 342 Dynamics of Machines 13 What is the mobility in these examples? a) b) c) d) Figures from Uicker et al., Theory of Machines and Mechanisms, 2003
14 MAE 342 Dynamics of Machines 14 Exceptions to the rule! Certain geometric conditions Different parts of a linkage can have different mobilities.
15 MAE 342 Dynamics of Machines 15 Torfason s Classification of Mechanisms Snap-Action Mechanisms Linear Actuators Fine Adjustments Clamping Mechanisms Locational Devices Ratchets and Escapements Indexing Mechanisms Swinging or Rocking Mechanisms Reciprocating Mechanisms Reversing Mechanisms Couplings and Connectors Stop, Pause, and Hesitation Mechanisms Curve Generators Straight-Line Generators
16 MAE 342 Dynamics of Machines 16 Kinematic Inversion You can pick different links to be the fixed link this is kinematic inversion Figures from Uicker et al., Theory of Machines and Mechanisms, 2003
17 MAE 342 Dynamics of Machines 17 Grashof s Law In a four bar linkage, if you want to be able to sit on one link and have some other link rotate 360 relative to you, then: where: s is the length of: l is the length of: p, q are the lengths of:
18 MAE 342 Dynamics of Machines 18 Grashof s Law Figures from Uicker et al., Theory of Machines and Mechanisms, 2003
Chapter 4. Mechanism Design and Analysis
Chapter 4. Mechanism Design and Analysis All mechanical devices containing moving parts are composed of some type of mechanism. A mechanism is a group of links interacting with each other through joints
KINEMATICS OF MACHINES. Dr.V.SUNDARESWARAN PROFESSOR OF MECHANICAL ENGG. COLLEGE OF ENGINEERING, GUINDY ANNA UNIVERSITY CHENNAI
KINEMATICS OF MACHINES Dr.V.SUNDARESWARAN PROFESSOR OF MECHANICAL ENGG. COLLEGE OF ENGINEERING, GUINDY ANNA UNIVERSITY CHENNAI 600 025 MECHANICS Science dealing with motion DIVISIONS OF MECHANICS Statics
Modelling of mechanical system CREATING OF KINEMATIC CHAINS
Modelling of mechanical system CREATING OF KINEMATIC CHAINS Mechanism Definitions 1. a system or structure of moving parts that performs some function 2. is each system reciprocally joined moveable bodies
Kinematics Fundamentals CREATING OF KINEMATIC CHAINS
Kinematics Fundamentals CREATING OF KINEMATIC CHAINS Mechanism Definitions 1. a system or structure of moving parts that performs some function 2. is each system reciprocally joined moveable bodies the
SAMPLE STUDY MATERIAL. Mechanical Engineering. Postal Correspondence Course. Theory of Machines. GATE, IES & PSUs
TOM - ME GATE, IES, PSU 1 SAMPLE STUDY MATERIAL Mechanical Engineering ME Postal Correspondence Course Theory of Machines GATE, IES & PSUs TOM - ME GATE, IES, PSU 2 C O N T E N T TOPIC 1. MACHANISMS AND
SYNTHESIS OF PLANAR MECHANISMS FOR PICK AND PLACE TASKS WITH GUIDING LOCATIONS
Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2013 August 4-7, 2013, Portland, Oregon, USA DETC2013-12021
Lecture Note 2: Configuration Space
ECE5463: Introduction to Robotics Lecture Note 2: Configuration Space Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 2 (ECE5463
Mechanics Place in Science Mechanisms and Structures Number Synthesis Paradoxes and Isomers Transformations and Inversions Grashof s Law
INTODUCTION TO MECHANISM SYNTHESIS Mechanics Place in Science Mechanisms and Structures Number Synthesis Paradoxes and Isomers Transformations and Inversions Grashof s Law ME312: Dynamics of Mechanisms
Theory of Machines Course # 1
Theory of Machines Course # 1 Ayman Nada Assistant Professor Jazan University, KSA. arobust@tedata.net.eg March 29, 2010 ii Sucess is not coming in a day 1 2 Chapter 1 INTRODUCTION 1.1 Introduction Mechanisms
WEEKS 1-2 MECHANISMS
References WEEKS 1-2 MECHANISMS (METU, Department of Mechanical Engineering) Text Book: Mechanisms Web Page: http://www.me.metu.edu.tr/people/eres/me301/in dex.ht Analitik Çözümlü Örneklerle Mekanizma
Analytical and Applied Kinematics
Analytical and Applied Kinematics Vito Moreno moreno@engr.uconn.edu 860-614-2365 (cell) http://www.engr.uconn.edu/~moreno Office EB1, hours Thursdays 10:00 to 5:00 1 This course introduces a unified and
Kinematic Synthesis. October 6, 2015 Mark Plecnik
Kinematic Synthesis October 6, 2015 Mark Plecnik Classifying Mechanisms Several dichotomies Serial and Parallel Few DOFS and Many DOFS Planar/Spherical and Spatial Rigid and Compliant Mechanism Trade-offs
SolidWorks Assembly Files. Assemblies Mobility. The Mating Game Mating features. Mechanical Mates Relative rotation about axes
Assemblies Mobility SolidWorks Assembly Files An assembly file is a collection of parts The first part brought into an assembly file is fixed Other parts are constrained relative to that part (or other
Mechanism Synthesis Rules
Mechanism Synthesis ules Linkage Transformation ules Grashof s Law Inversion ME312: Dynamics of Mechanisms 1 BB LINKAGE TANSFOMATION ULE 1 evolute joints in any loop can be replaced by prismatic joints
11. Kinematic models of contact Mechanics of Manipulation
11. Kinematic models of contact Mechanics of Manipulation Matt Mason matt.mason@cs.cmu.edu http://www.cs.cmu.edu/~mason Carnegie Mellon Lecture 11. Mechanics of Manipulation p.1 Lecture 11. Kinematic models
Lecture 3. Planar Kinematics
Matthew T. Mason Mechanics of Manipulation Outline Where are we? s 1. Foundations and general concepts. 2.. 3. Spherical and spatial kinematics. Readings etc. The text: By now you should have read Chapter
Kinematics: Intro. Kinematics is study of motion
Kinematics is study of motion Kinematics: Intro Concerned with mechanisms and how they transfer and transform motion Mechanisms can be machines, skeletons, etc. Important for CG since need to animate complex
Kinematics of Machines. Brown Hills College of Engineering & Technology
Introduction: mechanism and machines, kinematic links, kinematic pairs, kinematic chains, plane and space mechanism, kinematic inversion, equivalent linkages, four link planar mechanisms, mobility and
Human Motion. Session Speaker Dr. M. D. Deshpande. AML2506 Biomechanics and Flow Simulation PEMP-AML2506
AML2506 Biomechanics and Flow Simulation Day 02A Kinematic Concepts for Analyzing Human Motion Session Speaker Dr. M. D. Deshpande 1 Session Objectives At the end of this session the delegate would have
Chapter 1 Introduction
Chapter 1 Introduction Generally all considerations in the force analysis of mechanisms, whether static or dynamic, the links are assumed to be rigid. The complexity of the mathematical analysis of mechanisms
ME 321 Kinematics and Dynamics of Machines
.0 INTRODUCTION ME Kinematics and Dynamics of Machines All Text References in these notes are for: Mechanism Design: Analysis and Synthesis, Volume, Fourth Edition, Erdman, Sandor and Kota, Prentice-Hall,
Session #5 2D Mechanisms: Mobility, Kinematic Analysis & Synthesis
Session #5 2D Mechanisms: Mobility, Kinematic Analysis & Synthesis Courtesy of Design Simulation Technologies, Inc. Used with permission. Dan Frey Today s Agenda Collect assignment #2 Begin mechanisms
KINEMATICS OF AN OVERCONSTRAINED MECHANISM IN PRACTICE
KINEMTICS OF N OVERCONSTRINED MECHNISM IN PRCTICE Vandan Kamlakar Gundale* bstract: In 1939 Paul Schatz, a Swiss anthroposophist and geometrician had invented a mechanism which with few links generates
Kinematics - Introduction. Robotics. Kinematics - Introduction. Vladimír Smutný
Kinematics - Introduction Robotics Kinematics - Introduction Vladimír Smutný Center for Machine Perception Czech Institute for Informatics, Robotics, and Cybernetics (CIIRC) Czech Technical University
MACHINES AND MECHANISMS
MACHINES AND MECHANISMS APPLIED KINEMATIC ANALYSIS Fourth Edition David H. Myszka University of Dayton PEARSON ж rentice Hall Pearson Education International Boston Columbus Indianapolis New York San Francisco
Mechanisms. Updated: 18Apr16 v7
Mechanisms Updated: 8Apr6 v7 Mechanism Converts input motion or force into a desired output with four combinations of input and output motion Rotational to Oscillating Rotational to Rotational Rotational
Constraint and velocity analysis of mechanisms
Constraint and velocity analysis of mechanisms Matteo Zoppi Dimiter Zlatanov DIMEC University of Genoa Genoa, Italy Su S ZZ-2 Outline Generalities Constraint and mobility analysis Examples of geometric
1. Introduction 1 2. Mathematical Representation of Robots
1. Introduction 1 1.1 Introduction 1 1.2 Brief History 1 1.3 Types of Robots 7 1.4 Technology of Robots 9 1.5 Basic Principles in Robotics 12 1.6 Notation 15 1.7 Symbolic Computation and Numerical Analysis
[Hasan*, 4.(7): July, 2015] ISSN: (I2OR), Publication Impact Factor: 3.785
![[Hasan*, 4.(7): July, 2015] ISSN: (I2OR), Publication Impact Factor: 3.785](/thumbs/86/93816785.jpg "[Hasan*, 4.(7): July, 2015] ISSN: (I2OR), Publication Impact Factor: 3.785")
IJESRT INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY STUDY OF EPICYCLIC GEAR TRAINS USING GRAPH THEORY Dr. Ali Hasan* * Mech. Engg.Deptt.,Jamia Millia Islamia, New Delhi. ABSTRACT
September 20, Chapter 5. Simple Mechanisms. Mohammad Suliman Abuhaiba, Ph.D., PE
Chapter 5 Simple Mechanisms 1 Mohammad Suliman Abuhaiba, Ph.D., PE 2 Assignment #1 All questions at the end of chapter 1 st Exam: Saturday 29/9/2018 3 Kinematic Link or Element kinematic link (link) or
What Is SimMechanics?
SimMechanics 1 simulink What Is Simulink? Simulink is a tool for simulating dynamic systems with a graphical interface specially developed for this purpose. Physical Modeling runs within the Simulink environment
Taibah University Mechanical Engineering
Instructor: Chapter 2 Kinematics Fundamentals 1. Introduction 2. Degrees of Freedom 3. Types of Motion 4. Links, Joints, and Kinematic Chains 5. Determining Degree of Freedom Degree of Freedom in Planar
MCE/EEC 647/747: Robot Dynamics and Control. Lecture 1: Introduction
MCE/EEC 647/747: Robot Dynamics and Control Lecture 1: Introduction Reading: SHV Chapter 1 Robotics and Automation Handbook, Chapter 1 Assigned readings from several articles. Cleveland State University
10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators
Robotics and automation Dr. Ibrahim Al-Naimi Chapter two Introduction To Robot Manipulators 1 Robotic Industrial Manipulators A robot manipulator is an electronically controlled mechanism, consisting of
Industrial Robots : Manipulators, Kinematics, Dynamics
Industrial Robots : Manipulators, Kinematics, Dynamics z z y x z y x z y y x x In Industrial terms Robot Manipulators The study of robot manipulators involves dealing with the positions and orientations
Articulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017
Articulated Robots! Robert Stengel! Robotics and Intelligent Systems! MAE 345, Princeton University, 2017 Robot configurations Joints and links Joint-link-joint transformations! Denavit-Hartenberg representation
Shape and Function in Mechanical Devices
Shape and Function in Mechanical Devices Leo Joskowicz Department of Computer Science Courant Institute of Mathematical Sciences, New York University 251 Mercer Street, New York, NY 10012 joskowic@nyu-csd2.arpa
Lecture Note 2: Configuration Space
ECE5463: Introduction to Robotics Lecture Note 2: Configuration Space Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 2 (ECE5463
Mechanism and Robot Kinematics, Part I: Algebraic Foundations
Mechanism and Robot Kinematics, Part I: Algebraic Foundations Charles Wampler General Motors R&D Center In collaboration with Andrew Sommese University of Notre Dame Overview Why kinematics is (mostly)
EEE 187: Robotics Summary 2
1 EEE 187: Robotics Summary 2 09/05/2017 Robotic system components A robotic system has three major components: Actuators: the muscles of the robot Sensors: provide information about the environment and
Introduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
Development of Solid Models and Multimedia Presentations of Kinematic Pairs
Session 2793 Development of Solid Models and Multimedia Presentations of Kinematic Pairs Scott Michael Wharton, Dr. Yesh P. Singh The University of Texas at San Antonio, San Antonio, Texas Abstract Understanding
Dynamics Response of Spatial Parallel Coordinate Measuring Machine with Clearances
Sensors & Transducers 2013 by IFSA http://www.sensorsportal.com Dynamics Response of Spatial Parallel Coordinate Measuring Machine with Clearances Yu DENG, Xiulong CHEN, Suyu WANG Department of mechanical
The Conceptual Design of Robotic Architectures using Complexity Rules
The Conceptual Design of Robotic Architectures using Complexity Rules Waseem A. Khan and J. Angeles Centre for Intelligent Machines & Department of Mechanical Engineering McGill University Montreal, Quebec,
Overview. What is mechanism? What will I learn today? ME 311: Dynamics of Machines and Mechanisms Lecture 2: Synthesis
Overview ME 311: Dynamics of Machines and Mechanisms Lecture 2: Synthesis By Suril Shah Some fundamentals Synthesis Function, path and motion generation Limiting condition Dimensional synthesis 1 2 What
A Family of New Parallel Architectures with Four Degrees of Freedom
A Family of New arallel Architectures with Four Degrees of Freedom DIMITER ZLATANOV AND CLÉMENT M. GOSSELIN Département de Génie Mécanique Université Laval Québec, Québec, Canada, G1K 74 Tel: (418) 656-3474,
COPYRIGHTED MATERIAL INTRODUCTION CHAPTER 1
CHAPTER 1 INTRODUCTION Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators.
CONSIDERATIONS REGARDING LINKAGES USED FOR SHAFTS COUPLING
Mechanical Testing and Diagnosis ISSN 2247 9635, 2012 (II), Volume 4, 19-27 CONSIDERATIONS REGARDING LINKAGES USED FOR SHAFTS COUPLING Stelian ALACI, Florina Carmen CIORNEI, Constantin FILOTE, Luminiţa
Spatial R-C-C-R Mechanism for a Single DOF Gripper
NaCoMM-2009-ASMRL28 Spatial R-C-C-R Mechanism for a Single DOF Gripper Rajeev Lochana C.G * Mechanical Engineering Department Indian Institute of Technology Delhi, New Delhi, India * Email: rajeev@ar-cad.com
Kinematics of Machines Prof. A. K. Mallik Department of Mechanical Engineering Indian Institute of Technology, Kanpur. Module 10 Lecture 1
Kinematics of Machines Prof. A. K. Mallik Department of Mechanical Engineering Indian Institute of Technology, Kanpur Module 10 Lecture 1 So far, in this course we have discussed planar linkages, which
Kinematics of Machines Prof. A. K. Mallik Department of Mechanical Engineering Indian Institute of Technology, Kanpur. Module - 3 Lecture - 1
Kinematics of Machines Prof. A. K. Mallik Department of Mechanical Engineering Indian Institute of Technology, Kanpur Module - 3 Lecture - 1 In an earlier lecture, we have already mentioned that there
MENG 372 Chapter 3 Graphical Linkage Synthesis. All figures taken from Design of Machinery, 3 rd ed. Robert Norton 2003
MENG 372 Chapter 3 Graphical Linkage Synthesis All figures taken from Design of Machinery, 3 rd ed. Robert Norton 2003 1 Introduction Synthesis: to design or create a mechanism to give a certain motion
Mechanism. Mechanism consists of linkages and joints.
Mechanism Machines are mechanical devices used to accomplish work. A mechanism is a heart of a machine. It is the mechanical portion of the machine that has the function of transferring motion and forces
INTRODUCTION CHAPTER 1
CHAPTER 1 INTRODUCTION Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators.
2.007 Design and Manufacturing I Spring 2009
MIT OpenCourseWare http://ocw.mit.edu 2.007 Design and Manufacturing I Spring 2009 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms. 2.007 Design and Manufacturing
Optimal Synthesis of a Single-Dwell 6-Bar Planar Linkage
International Journal of Computational Engineering Research Vol, 04 Issue, 2 Optimal Synthesis of a Single-Dwell 6-Bar Planar Linkage Galal A. Hassaan Mechanical Design & Production Department, Faculty
Robotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur
Robotics Prof. Dilip Kumar Pratihar Department of Mechanical Engineering Indian Institute of Technology, Kharagpur Lecture 03 Introduction to Robot and Robotics (Contd.) (Refer Slide Time: 00:34) Now,
Written exams of Robotics 1
Written exams of Robotics 1 http://www.diag.uniroma1.it/~deluca/rob1_en.php All materials are in English, unless indicated (oldies are in Year Date (mm.dd) Number of exercises Topics 2018 06.11 2 Planar
Prof. Fanny Ficuciello Robotics for Bioengineering Trajectory planning
Trajectory planning to generate the reference inputs to the motion control system which ensures that the manipulator executes the planned trajectories path and trajectory joint space trajectories operational
Finding Reachable Workspace of a Robotic Manipulator by Edge Detection Algorithm
International Journal of Advanced Mechatronics and Robotics (IJAMR) Vol. 3, No. 2, July-December 2011; pp. 43-51; International Science Press, ISSN: 0975-6108 Finding Reachable Workspace of a Robotic Manipulator
Data-Driven Kinematics: Unifying Synthesis of Planar Four-Bar Linkages via Motion Analysis
Data-Driven Kinematics: Unifying Synthesis of Planar Four-Bar Linkages via Motion Analysis Anurag Purwar, Q. Jeffrey Ge Abstract This paper presents a novel data-driven approach for kinematic synthesis
1.9 Snap Action Mechanisms 19
Theory of Mechanism and Machines Chapter- Introduction Prepared y rij hooshan sst. Professor. S.. College of Engg. nd Technology Mathura, Uttar Pradesh, (India) Supported y: Purvi hooshan In This Chapter
A rigid body free to move in a reference frame will, in the general case, have complex motion, which is simultaneously a combination of rotation and
050389 - Analtical Elements of Mechanisms Introduction. Degrees of Freedom he number of degrees of freedom (DOF) of a sstem is equal to the number of independent parameters (measurements) that are needed
Optimal Design of Three-Link Planar Manipulators using Grashof's Criterion
See discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/256465031 Optimal Design of Three-Link Planar Manipulators using Grashof's Criterion Chapter
An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices
An Improved Dynamic Modeling of a 3-RPS Parallel Manipulator using the concept of DeNOC Matrices A. Rahmani Hanzaki, E. Yoosefi Abstract A recursive dynamic modeling of a three-dof parallel robot, namely,
MACHINE THEORY Bachelor in Mechanical Engineering INTRODUCTION TO MACHINE DESIGN
MACHINE THEORY Bachelor in Mechanical Engineering INTRODUCTION TO MACHINE DESIGN Ignacio Valiente Blanco José Luis Pérez Díaz David Mauricio Alba Lucero Efrén Díez Jiménez Timm Lauri Berit Sanders Machine
Design Contemplation and Modelling of a Bi-Axial Manipulator
Design Contemplation and Modelling of a Bi-Axial Manipulator Shuprajhaa T t.shuprajhaa94@gmail.com Vaitheeshwari M, mvaithee3795@gmail.com Subasree S subasreesridhar.12@gmail.com Sivakumar S Assistant
Robotics. SAAST Robotics Robot Arms
SAAST Robotics 008 Robot Arms Vijay Kumar Professor of Mechanical Engineering and Applied Mechanics and Professor of Computer and Information Science University of Pennsylvania Topics Types of robot arms
Robotics kinematics and Dynamics
Robotics kinematics and Dynamics C. Sivakumar Assistant Professor Department of Mechanical Engineering BSA Crescent Institute of Science and Technology 1 Robot kinematics KINEMATICS the analytical study
Simulation Model for Coupler Curve Generation using Five Bar Planar Mechanism With Rotation Constraint
Simulation Model for Coupler Curve Generation using Five Bar Planar Mechanism With Rotation Constraint A. K. Abhyankar, S.Y.Gajjal Department of Mechanical Engineering, NBN Sinhgad School of Engineering,
Rebecca R. Romatoski. B.S. Mechanical Engineering Massachusetts Institute of Technology, 2006
Robotic End Effecter for the Introduction to Robotics Laboratory Robotic Arms by Rebecca R. Romatoski B.S. Mechanical Engineering Massachusetts Institute of Technology, 2006 SUBMITTED TO THE DEPARTMENT
DETC APPROXIMATE MOTION SYNTHESIS OF SPHERICAL KINEMATIC CHAINS
Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2007 September 4-7, 2007, Las Vegas, Nevada, USA DETC2007-34372
Inverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector
Inverse Kinematics Given a desired position (p) & orientation (R) of the end-effector q ( q, q, q ) 1 2 n Find the joint variables which can bring the robot the desired configuration z y x 1 The Inverse
Design of the linkages type tracking mechanisms of the solar energy conversion systems by using Multi Body Systems Method
Design of the linkages type tracking mechanisms of the solar energy conversion systems by using Multi Body Systems Method M.Comsit * I.Visa Transilvania University of Brasov Transilvania University of
Rigid Dynamics Solution Methodology for 3-PSU Parallel Kinematic Manipulators
Rigid Dynamics Solution Methodology for 3-PSU Parallel Kinematic Manipulators Arya B. Changela 1, Dr. Ramdevsinh Jhala 2, Chirag P. Kalariya 3 Keyur P. Hirpara 4 Assistant Professor, Department of Mechanical
Inherently Balanced Double Bennett Linkage
Inherently Balanced Double Bennett Linkage V. van der Wijk Delft University of Technology - Dep. of Precision and Microsystems Engineering Mechatronic System Design, e-mail: v.vanderwijk@tudelft.nl Abstract.
2. Motion Analysis - Sim-Mechanics
2 Motion Analysis - Sim-Mechanics Figure 1 - The RR manipulator frames The following table tabulates the summary of different types of analysis that is performed for the RR manipulator introduced in the
ADJUSTABLE GEOMETRIC CONSTRAINTS 2001 MIT PSDAM AND PERG LABS
ADJUSTABLE GEOMETRIC CONSTRAINTS Why adjust kinematic couplings? KC Repeatability is orders of magnitude better than accuracy Accuracy = f ( manufacture and assemble ) Kinematic Coupling Accuracy Adjusted
Lecture 18 Kinematic Chains
CS 598: Topics in AI - Adv. Computational Foundations of Robotics Spring 2017, Rutgers University Lecture 18 Kinematic Chains Instructor: Jingjin Yu Outline What are kinematic chains? C-space for kinematic
OPTIMAL KINEMATIC DESIGN OF A CAR AXLE GUIDING MECHANISM IN MBS SOFTWARE ENVIRONMENT
OPTIMAL KINEMATIC DESIGN OF A CAR AXLE GUIDING MECHANISM IN MBS SOFTWARE ENVIRONMENT Dr. eng. Cătălin ALEXANDRU Transilvania University of Braşov, calex@unitbv.ro Abstract: This work deals with the optimal
Cam makes a higher kinematic pair with follower. Cam mechanisms are widely used because with them, different types of motion can be possible.
CAM MECHANISMS Cam makes a higher kinematic pair with follower. Cam mechanisms are widely used because with them, different types of motion can be possible. Cams can provide unusual and irregular motions
MECHANICAL ENGINEERING
MECHANICAL ENGINEERING ESE TOPICWISE OBJECTIVE SOLVED PAPER-II FROM (1995-2018) UPSC Engineering Services Examination State Engineering Service Examination & Public Sector Examination. IES MASTER PUBLICATION
Model Library Mechanics
Model Library Mechanics Using the libraries Mechanics 1D (Linear), Mechanics 1D (Rotary), Modal System incl. ANSYS interface, and MBS Mechanics (3D) incl. CAD import via STL and the additional options
Geometric Approach For Inverse Kinematics Solution: 3-PSU Parallel Kinematic Manipulator
Geometric Approach For Inverse Kinematics Solution: 3-PSU Parallel Kinematic Manipulator Mr. Arya B Changela P.G. Student, School of Engineering RK University, Rajkot. Prof. Keyur P Hirpara Assistant Professor,
Theory of Robotics and Mechatronics
Theory of Robotics and Mechatronics Final Exam 19.12.2016 Question: 1 2 3 Total Points: 18 32 10 60 Score: Name: Legi-Nr: Department: Semester: Duration: 120 min 1 A4-sheet (double sided) of notes allowed
Single Actuator Shaker Design to Generate Infinite Spatial Signatures
2 nd International and 17 th National Conference on Machines and Mechanisms inacomm215-55 Single Actuator Shaker Design to Generate Infinite Spatial Signatures K D Lagoo, T A Dwarakanath and D N Badodkar
Mechanism Kinematics and Dynamics
Mechanism Kinematics and Dynamics Final Project Presentation 10:10-13:00, 12/21 and 12/28 1. The window shield wiper (2) For the window wiper in Fig.1.33 on p.26 of the PPT, (1). Select the length of all
Workspaces of planar parallel manipulators
Workspaces of planar parallel manipulators Jean-Pierre Merlet Clément M. Gosselin Nicolas Mouly INRIA Sophia-Antipolis Dép. de Génie Mécanique INRIA Rhône-Alpes BP 93 Université Laval 46 Av. Felix Viallet
IMECE FUNCTIONAL INTERFACE-BASED ASSEMBLY MODELING
Proceedings of IMECE2005 2005 ASME International Mechanical Engineering Congress and Exposition November 5-11, 2005, Orlando, Florida USA IMECE2005-79945 FUNCTIONAL INTERFACE-BASED ASSEMBLY MODELING James
DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT
DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT V. BRODSKY, D. GLOZMAN AND M. SHOHAM Department of Mechanical Engineering Technion-Israel Institute of Technology Haifa, 32000 Israel E-mail:
Lecture VI: Constraints and Controllers
Lecture VI: Constraints and Controllers Motion Constraints In practice, no rigid body is free to move around on its own. Movement is constrained: wheels on a chair human body parts trigger of a gun opening
Computational Design + Fabrication: 4D Analysis
Computational Design + Fabrication: 4D Analysis Jonathan Bachrach EECS UC Berkeley October 6, 2015 Today 1 News Torque and Work Simple Machines Closed Chains Analysis Paper Review Lab 3 Critique News 2
Synthesis of Spatial RPRP Loops for a Given Screw System
Synthesis of Spatial RPRP Loops for a Given Screw System A. Perez-Gracia Institut de Robotica i Informatica Industrial (IRI) UPC/CSIC, Barcelona, Spain and: College of Engineering, Idaho State Univesity,
Kinematics of pantograph masts
Kinematics of pantograph masts B. P. Nagaraj, R. Pandiyan ISRO Satellite Centre, Bangalore, 560 017, India and Ashitava Ghosal Dept. of Mechanical Engineering, Indian Institute of Science, Bangalore 560
Configuration Space. Chapter 2
Chapter 2 Configuration Space A typical robot is mechanically constructed from several bodies, or links, that are connected by various types of joints. The robot moves when certain joints are driven by
A KBE tool for solving the mechanisms kinematics
IOP Conference Series: Materials Science and Engineering PAPER OPEN ACCESS A KBE tool for solving the mechanisms kinematics To cite this article: C Rusu et al 2016 IOP Conf. Ser.: Mater. Sci. Eng. 147
COMPUTER SIMULATION OF MOVEMENTS OF THE HEXAPOD ROBOT FOR 3D PRINTING OF BUILDING PRODUCTS
COMPUTER SIMULATION OF MOVEMENTS OF THE HEXAPOD ROBOT FOR 3D PRINTING OF BUILDING PRODUCTS Larisa Alexandrovna Rybak, Dmitry Ivanovich Malyshev, Lusine Hornikova Virabyan and Galina Valeryevna Bocharnikova
Kinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.
Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism
Kinematic Design Principles
Kinematic Design Principles BJ Furman 24SEP97 Introduction Machines and instruments are made up of elements that are suitably arranged and many of which that are movably connected. Two parts that are in
Lecture VI: Constraints and Controllers. Parts Based on Erin Catto s Box2D Tutorial
Lecture VI: Constraints and Controllers Parts Based on Erin Catto s Box2D Tutorial Motion Constraints In practice, no rigid body is free to move around on its own. Movement is constrained: wheels on a