Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms form a novel class of modular and compact mechanisms with a single degree-of-freedom, suitable for a number of manipulation tasks. Such SDCSC mechanisms take advantage of the hardware constraints between the articulations of a serial-chain linkage, created using gear-trains or belt/pulley drives, to guide the end-effector motions and forces. In this paper, we examine the dimensional synthesis of such SDCSC mechanisms to perform desired planar manipulation tasks, taking into account task specifications on both end-effector motions and forces. Our solution approach combines precision point synthesis with optimization to realize optimal mechanisms, which satisfy the design specifications exactly at the selected precision points and approximate them in the least-squares sense elsewhere along a specified trajectory. The designed mechanisms can guide a rigid body through several positions while supporting arbitrarily specified external loads. Furthermore, torsional springs are added at the joints to reduce the overall actuation requirements and to enhance the task performance. Examples from the kinematic and the kinetostatic synthesis of planar SDCSC mechanisms are presented to highlight the benefits.
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e-mail: vkrovi@eng.buffalo.edu
e-mail: gksuresh@grip.cis.upenn.edu
e-mail: kumar@grip.cis.upenn.edu
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June 2002
Technical Papers
Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms
Venkat Krovi,
e-mail: vkrovi@eng.buffalo.edu
Venkat Krovi
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
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G. K. Ananthasuresh,
e-mail: gksuresh@grip.cis.upenn.edu
G. K. Ananthasuresh
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
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Vijay Kumar
e-mail: kumar@grip.cis.upenn.edu
Vijay Kumar
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
Search for other works by this author on:
Venkat Krovi
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
e-mail: vkrovi@eng.buffalo.edu
G. K. Ananthasuresh
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
e-mail: gksuresh@grip.cis.upenn.edu
Vijay Kumar
Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Room 301C, GRASP Lab, 3401 Walnut Street, Philadelphia, PA 19104
e-mail: kumar@grip.cis.upenn.edu
Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 2000. Associate Editor: G. S. Chirikjian.
J. Mech. Des. Jun 2002, 124(2): 301-312 (12 pages)
Published Online: May 16, 2002
Article history
Received:
February 1, 2000
Online:
May 16, 2002
Citation
Krovi, V., Ananthasuresh, G. K., and Kumar, V. (May 16, 2002). "Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms ." ASME. J. Mech. Des. June 2002; 124(2): 301–312. https://doi.org/10.1115/1.1464563
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