Research Initiation: A Priori Geometric Design of An Interference Free Spatial Mechanism

本项目的目标是开发一种空间机构的几何设计技术，以确保其连杆的无干涉运动。该技术采用自上而下的设计方法，而不是传统的试错法。为了设计空间机构中连杆的几何形状，将生成空间域，称为扫掠实体，它标识了连杆与机构其他成员之间的潜在冲突区域。将链接几何图形放置在此域之外可确保其不受干扰。虽然这项研究的重点是空间连杆机构，但该技术的实施应该对其他机械系统的几何设计产生有价值的见解。结果还可以用于研究任何两个可能导致冲突的对象之间的空间运动。

The objective of this project is to develop a technique for the geometric design of a spatial mechanism to guarantee interference free motion for its links. The technique employs the top down design method rather than conventional trial and error. To design the geometry of a link in a spatial mechanism, the space domain, called a swept solid, which identifies the potential region of conflict between the link and other members of the mechanism, is generated. Placing the link geometry outside of this domain guarantees that it will be free of interference. Although this study focuses on spatial linkages, implementation of the technique should yield valuable insights for the geometric design of other mechanical systems. Results can also be used to study spatial motion between any two objects which may result in conflict.