EAGER: Computational Machine Design: The Eight-bar Linkage

这个早期探索性研究（EAGER）项目的目标是开发一种自动设计机械手的方法，该机械手使用多达八个连杆来执行特定的指定运动。该方法将计算设计技术与机器人系统技术相结合，以帮助组织设计算法和用户的扩展选项。这种方法构成了八杆机构设计系统的基础，并可扩展到10杆和12杆机构。这是一项高风险、高回报的工作，可以产生第一个八杆连杆机构的系统设计方法。这项工作产生的更广泛的影响是设计新的和创新的复杂连接系统的能力，目前超出了我们的能力。这项研究还为自动化、辅助技术以及航空航天和汽车中的一系列应用提供了有效的工具。

The objective of this EArly Grant for Exploratory Research (EAGER) project is to develop a method of automatically designing manipulators using as many as eight bars in their linkage to perform a particular specified motion. The approach combines techniques of computational design with those of robotic systems to assist organization of the expanding options for both the design algorithm and the user. This approach forms the basis for a design system for eight-bar linkages, and may be extendable to 10 and 12-bar linkages. It is a high-risk high-reward effort that can yield the first systematic design methodology for eight-bar linkages.The broader impact resulting from this work is the ability to design new and innovative complex linkage systems that are currently beyond our capabilities. This research also provides effective tools for the design of a new range of devices useful for automation, assistive technology, and a range of applications in aerospace and automotive vehicles.