The synthesis of functional molecular linkages is constrained by difficulties in fabricating nanolinks of arbitrary shapes and sizes. Thus, classical mechanism synthesis methods, which assume the ability to manufacture any designed links, cannot provide a systematic process for assembling such linkages. We propose a new approach to building functional mechanisms with prescribed mobility by using only elements from a predefined “link soup.” First, we enumerate an exhaustive set of topologies, while employing divide-and-conquer algorithms to control the generation and elimination of redundant topologies. Then, we construct the linkage arrangements for each valid topology. Finally, we output a set of feasible geometries through a positional analysis step that minimizes the error associated with closure of the loops in the linkage while avoiding geometric interference. The proposed systematic approach outputs the ATLAS of candidate mechanisms, which can be further processed for downstream applications. The resulting synthesis procedure is the first of its kind that is capable of synthesizing functional linkages with prescribed mobility constructed from a soup of primitive entities.
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June 2016
Research-Article
Synthesizing Functional Mechanisms From a Link Soup1
Pouya Tavousi
,
Pouya Tavousi
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Search for other works by this author on:
Kazem Kazerounian
,
Kazem Kazerounian
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Search for other works by this author on:
Horea Ilies
Horea Ilies
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Search for other works by this author on:
Pouya Tavousi
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Kazem Kazerounian
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Horea Ilies
Department of Mechanical Engineering,
University of Connecticut,
Storrs, CT 06269-3139
University of Connecticut,
Storrs, CT 06269-3139
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 21, 2015; final manuscript received April 8, 2016; published online May 4, 2016. Assoc. Editor: David Myszka.
2Corresponding author.
J. Mech. Des. Jun 2016, 138(6): 062303 (13 pages)
Published Online: May 4, 2016
Article history
Received:
July 21, 2015
Revised:
April 8, 2016
Citation
Tavousi, P., Kazerounian, K., and Ilies, H. (May 4, 2016). "Synthesizing Functional Mechanisms From a Link Soup." ASME. J. Mech. Des. June 2016; 138(6): 062303. https://doi.org/10.1115/1.4033394
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