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

该项目的目标是开发一种空间机构的几何设计技术，以保证其连杆的无干涉运动。该技术采用自顶向下的设计方法，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，产生了一个空间域，称为扫描实体，它识别了连杆与机构其他成员之间的潜在冲突区域。将链路几何形状置于该域之外可以保证它不受干扰。虽然这项研究的重点是空间联系，但该技术的实施应该为其他机械系统的几何设计提供有价值的见解。结果也可以用于研究任何两个物体之间可能导致冲突的空间运动。

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.