An open path synthesis method for a spatial revolute-revolute-spherical-spherical (RRSS) mechanism is presented in this paper. The mathematical model for the trajectory curve is established. The characteristics of an RRSS mechanism in a standard installation position are revealed: the projection points of the coupler curve on the Oxy plane rotate by the corresponding input angles around the z-axis, and the generated points lie on an ellipse. Based on this finding, a seventeen-dimensional path generation problem can be translated into two lower-dimensional matching recognition problems and one actual size and installation position calculation problem. The path generation can be achieved by three steps. First, a database of four dimensional rotation angle parameters is established. By comparing the similarities between the mechanism feature curve of the prescribed open curve and its corresponding mechanism feature ellipse, the angles of installation, the initial angle of the input link and the elliptic feature parameters of the desired RRSS mechanism can be approximately determined. Then, a thirteen-dimensional dynamic self-adapting numerical atlas database is established, which contains six basic dimensional types and seven wavelet feature parameters, and the basic dimensional types of the desired RRSS mechanism are obtained. Finally, based on the relationship between the mechanism feature ellipse of the prescribed curve and the basic dimensional types of the desired RRSS mechanism, the calculation models for the actual link lengths and installation positions of the desired RRSS mechanism were established. Three examples are presented in this paper.
Synthesis of a spatial RRSS mechanism for path generation using the numerical atlas method
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received March 19, 2019; final manuscript received June 13, 2019; published online xx xx, xxxx. Assoc. Editor: Massimo Callegari.
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Liu, W., Sun, J., and Chu, J. (June 26, 2019). "Synthesis of a spatial RRSS mechanism for path generation using the numerical atlas method." ASME. J. Mech. Des. doi: https://doi.org/10.1115/1.4044110
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