On RCCC linkage motion generation with defect elimination for an indefinite number of precision positions

Document Type

Article

Publication Date

12-1-2017

Abstract

A general optimization model for the dimensional synthesis of defect-free revolute-cylindrical-cylindrical-cylindrical joint (or RCCC) motion generators is formulated and demonstrated in this work. With this optimization model, the RCCC dimensions required to approximate an indefinite number of precision positions are calculated. The model includes constraints to eliminate order branch and circuit defects-defects that are common in dyad-based dimensional synthesis. Therefore, the novelty of this work is the development of a general optimization model for RCCC motion generation for an indefinite number of precision positions that simultaneously considers order, branch, and circuit defect elimination. This work conveys both the benefits and drawbacks realized when implementing the optimization model on a personal computer using the commercial mathematical analysis software package MATLAB.

Identifier

85031495005 (Scopus)

Publication Title

Journal of Mechanisms and Robotics

External Full Text Location

https://doi.org/10.1115/1.4038066

e-ISSN

19424310

ISSN

19424302

Issue

6

Volume

9

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