On the synthesis of spatial revolute-revolute-spherical-cylindrical motion generators with prescribed coupler loads

K. Russell, Q. Shen, W. T. Lee, R. S. Sodhi

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

This work extends the concepts and methodologies of Shen et al. for the synthesis of spherical four-bar motion generators to the synthesis of spatial revolute-revolute-spherical-cylindrical (RRSC) motion generators with applied coupler loads. A constraint that includes coupler loads and driver static torques for the RRSC mechanism is formulated using the principle of virtual work. This constraint is combined with the conventional constraints for the R-R and C-S dyads to form a non-linear optimization problem from which RRSC mechanism solutions are calculated that approximate prescribed coupler poses and satisfy prescribed driver static torques for given coupler loads. The formulated RRSC coupler load and driver static torque constraint are also incorporated in a simplified RRSC motion generation model to form a simplified non-linear optimization problem for calculating RRSC mechanism solutions. This work demonstrates both the conventional and simplified non-linear optimization problems.

Original languageEnglish (US)
Pages (from-to)183-190
Number of pages8
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Volume224
Issue number2
DOIs
StatePublished - Jan 1 2010

All Science Journal Classification (ASJC) codes

  • Condensed Matter Physics
  • Mechanical Engineering

Keywords

  • coupler load
  • motion generation
  • revolute-revolute-spherical-cylindrical mechanism
  • static torque

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