A Robust Solution of the Spatial Burmester Problem

被引:8
|
作者
Bai, Shaoping [1 ]
Angeles, Jorge [2 ]
机构
[1] Aalborg Univ, Dept Mech & Mfg Engn, DK-9220 Aalborg, Denmark
[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada
来源
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2012年 / 4卷 / 03期
关键词
DESIGN;
D O I
10.1115/1.4006658
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The spatial Burmester problem is studied in this work, focusing on the synthesis of CCCC and RCCC linkages for rigid-body guidance, where R stands for revolute, C for cylindrical pair. The synthesis equations for CC and RC dyads are formulated using dual algebra. The formulation is developed in such a way that it leads to a robust solution, based on a semigraphical approach, which produces all the real solutions to the problem of CC-dyad synthesis for five given poses. This eases the equation-solving process by filtering out the complex solutions, while allowing for the handling of the special cases of none or infinitely many solutions. The synthesis procedure is illustrated with examples for four and five given poses. [DOI: 10.1115/1.4006658]
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页数:10
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