This paper presents a synthesis method for the Stephenson III six-bar linkage that combines the direct solution of the synthesis equations with an optimization strategy to achieve increased performance for path generation. The path synthesis equations for a six-bar linkage can reach as many as 15 points on a curve; however, the degree of the polynomial system is 1046. In order to increase the number of accuracy points and decrease the complexity of the synthesis equations, a new formulation is used that combines 11 point synthesis with optimization techniques to obtain a six-bar linkage that minimizes the distance to 60 accuracy points. This homotopy directed optimization technique is demonstrated by obtaining a Stephenson III six-bar linkage that achieves a specified gait trajectory.
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December 2016
Research-Article
Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb With a Natural Ankle Trajectory
Brandon Y. Tsuge
,
Brandon Y. Tsuge
Mechanical and Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: btsuge@uci.edu
University of California,
Irvine, CA 92697
e-mail: btsuge@uci.edu
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Mark M. Plecnik
,
Mark M. Plecnik
Electrical Engineering and Computer Science,
University of California,
Berkeley, CA 94720
e-mail: mplecnik@berkeley.edu
University of California,
Berkeley, CA 94720
e-mail: mplecnik@berkeley.edu
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J. Michael McCarthy
J. Michael McCarthy
Professor
Fellow ASME
Robotics and Automation Laboratory,
Department of Mechanical and
Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu
Fellow ASME
Robotics and Automation Laboratory,
Department of Mechanical and
Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu
Search for other works by this author on:
Brandon Y. Tsuge
Mechanical and Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: btsuge@uci.edu
University of California,
Irvine, CA 92697
e-mail: btsuge@uci.edu
Mark M. Plecnik
Electrical Engineering and Computer Science,
University of California,
Berkeley, CA 94720
e-mail: mplecnik@berkeley.edu
University of California,
Berkeley, CA 94720
e-mail: mplecnik@berkeley.edu
J. Michael McCarthy
Professor
Fellow ASME
Robotics and Automation Laboratory,
Department of Mechanical and
Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu
Fellow ASME
Robotics and Automation Laboratory,
Department of Mechanical and
Aerospace Engineering,
University of California,
Irvine, CA 92697
e-mail: jmmccart@uci.edu
Manuscript received August 15, 2015; final manuscript received July 3, 2016; published online September 8, 2016. Assoc. Editor: Qiaode Jeffrey Ge.
J. Mechanisms Robotics. Dec 2016, 8(6): 061009 (7 pages)
Published Online: September 8, 2016
Article history
Received:
August 15, 2015
Revised:
July 3, 2016
Citation
Tsuge, B. Y., Plecnik, M. M., and Michael McCarthy, J. (September 8, 2016). "Homotopy Directed Optimization to Design a Six-Bar Linkage for a Lower Limb With a Natural Ankle Trajectory." ASME. J. Mechanisms Robotics. December 2016; 8(6): 061009. https://doi.org/10.1115/1.4034141
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