Abstract
Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms are a novel class of mechanisms that can be realized by coupling successive joint rotations of a serial chain linkage, by way of gears or cable-pulley drives. Such mechanisms combine the benefits of single degree-of-freedom design and control with the anthropomorphic workspace of serial chains. The forward kinematics equations take the form of a finite trigonometric series in terms of the input crank rotations. The proposed Fourier-based synthesis method exploits the special structure of these equations to achieve the combined number and dimensional synthesis of SDCSC mechanisms for planar path following tasks.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Erdman, A.G. (1993), Modern Kinematics: Developments in the Last Forty Years, John Wiley & Sons, New York.
Farin G. (1997), Curves and Surfaces for Computer-Aided Geometric Design: A Practical Guide, 4th Ed., Academic Press, San Diego, CA.
Figliolini, G., Ceccarelli, M. (1998), A Motion Analysis for One-D.O.F. Anthropomorphic Finger Mechanism, Proceedings of the 1998 ASME Design Engineering Technical Conferences, DETC98/MECH-5985, Atlanta, GA.
Hunt, K.H. (1978), Kinematic Geometry of Mechanisms, Clarendon Press, Oxford.
Kaufman, R.E., Sandor, G.N. (1969), Bicycloidal Crank–A New Four-Link Mechanism, ASME Journal of Engineering for Industry, vol. 91, no. B, pp. 91–96.
Krovi, V. (1998), Design and Virtual Prototyping of User-Customized AssistiveDevices, Ph.D. Thesis. Department of Mechanical Engineering and AppliedMechanics, University of Pennsylvania, Philadelphia, PA.
Oppenheim, A.V., Schafer, R.W. (1992), Discrete-Time Signal Processing, Prentice Hall, Englewood Cliffs, NJ.
Pang, Y-W. (1999), Fourier Methods for Synthesis of Coupled Serial Chain Mechanisms, Honors Thesis, Dept. of Mechanical Engineering, McGill University, Montreal, Canada. URL: http://www.cim.mcgill.ca/.-ypang/.
Sandor, G.N. (1964), On the Existence of a Cycloidal Burmester Theory in Planar Kinematics, ASME Journal of Applied Mechanics, vol. 86, no. E, pp. 694–699.
Sandor, G.N., Erdman, A.G. (1984), Advanced Mechanism Design: Analysis and Synthesis, vol. 2, Prentice Hall International, Englewood Cliffs, NJ.
Tsai, L-W. (1995), Design of Tendon-Driven Manipulators, ASME Journal of Mechanical Design, vol. 117, no. 2B, pp. 80–86.
Ullah, I., Kota S. (1997), Optimal Synthesis of Mechanisms for Path Generation Using Fourier Descriptors and Global Search Methods, ASME Journal of Mechanical Design, vol. 119, no. 4, pp. 504–510.
Vanderplaats, G.N. (1982), Chapter 3: Unconstrained Optimization in N variables, Numerical Optimization Techniques in Engineering Design: With Applications, McGraw-Hill, New York, NY.
Wunderlich, W. (1970), Chapter 33: Hohere Radlinien, Ebene Kinematik, B.I-Hochschultaschenbucher, no. 447/447A, Mannheim, Germany.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Pang, Y., Krovi, V. (2000). Fourier Methods for Synthesis of Coupled Serial Chain Mechanisms. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_9
Download citation
DOI: https://doi.org/10.1007/978-94-011-4120-8_9
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
eBook Packages: Springer Book Archive