A general optimization model for the dimensional synthesis of defect-free revolute-cylindrical-cylindrical-cylindrical joint (or RCCC) motion generators is formulated and demonstrated in this work. With this optimization model, the RCCC dimensions required to approximate an indefinite number of precision positions are calculated. The model includes constraints to eliminate order branch and circuit defects—defects that are common in dyad-based dimensional synthesis. Therefore, the novelty of this work is the development of a general optimization model for RCCC motion generation for an indefinite number of precision positions that simultaneously considers order, branch, and circuit defect elimination. This work conveys both the benefits and drawbacks realized when implementing the optimization model on a personal computer using the commercial mathematical analysis software package matlab.
On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions
Manuscript received April 20, 2017; final manuscript received September 1, 2017; published online October 12, 2017. Assoc. Editor: Jian S. Dai.
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Lee, W., Cosme, J., and Russell, K. (October 12, 2017). "On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions." ASME. J. Mechanisms Robotics. December 2017; 9(6): 064501. https://doi.org/10.1115/1.4038066
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