Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops
Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops
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使用随机单峰循环的斯蒂芬森型六条定时曲线发生器的综合
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Mark M. Plecnik
中科院分区：
文献类型：
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作者：
A. Baskar;Mark M. Plecnik
传统上，刚体机构的综合是由运动学要求（如刚体运动、路径或功能）的设计所驱动的。后两者的混合导致定时曲线合成，其目标是产生与关节变量的输入相协调的路径。这种方法可以改变力和速度从输入关节到输出点路径上的传递，定时曲线发生器的设计可以通过建立一个代数方程的平方系统并获得所有孤立的解决方案来完成。对于一个四杆机构，获得这些解决方案是例行的。对于六杆机构，情况变得复杂得多，但可能的输出运动的范围更多样化。这些六杆设计方程的近完整的解决方案集的计算已被最近的寻根技术属于数值代数几何领域。特别是，我们实现了一个方法，使用随机单值循环。在这项工作中，我们报告这些解决方案集的斯蒂芬森拓扑结构的所有相关的六杆。这些通用问题的计算的解决方案集表示设计库，其可以在参数延续步骤中用于为不同的后续要求设计链接。
Synthesis of rigid-body mechanisms has traditionally been motivated by the design for kinematic requirements such as rigid-body motions, paths, or functions. A blend of the latter two leads to timed curve synthesis, the goal of which is to produce a path coordinated to the input of a joint variable. This approach has utility for altering the transmission of forces and velocities from an input joint onto an output point path. The design of timed curve generators can be accomplished by setting up a square system of algebraic equations and obtaining all isolated solutions. For a four-bar linkage, obtaining these solutions is routine. The situation becomes much more complicated for the six-bar linkages, but the range of possible output motions is more diverse. The computation of nearly complete solution sets for these six-bar design equations has been facilitated by recent root finding techniques belonging to the field of numerical algebraic geometry. In particular, we implement a method that uses random monodromy loops. In this work, we report these solution sets to all relevant six-bars of the Stephenson topology. The computed solution sets to these generic problems represent a design library, which can be used in a parameter continuation step to design linkages for different subsequent requirements.
DOI：
10.1115/detc2016-60428
发表时间：
2016-08
期刊：
Journal of Mechanisms and Robotics
影响因子：
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作者：
Mark M. Plecnik;R. Fearing
通讯作者：
Mark M. Plecnik;R. Fearing