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    Of Linkages: 5. Synthesis

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    mr e
    The document discusses exact synthesis methods for three linkage synthesis problems: function generation, rigid body guidance, and path generation. It outlines deriving the input-output relationship for a given linkage topology and determining linkage parameters to satisfy the relationship at discrete input points.

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    Of Linkages: 5. Synthesis

    Uploaded by

    mr e
    19 views2 pages
    The document discusses exact synthesis methods for three linkage synthesis problems: function generation, rigid body guidance, and path generation. It outlines deriving the input-output relationship for a given linkage topology and determining linkage parameters to satisfy the relationship at discrete input points.

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    capitulo de síntesis de mecanismos 4R

    Original Title

    Synthesis

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    The document discusses exact synthesis methods for three linkage synthesis problems: function generation, rigid body guidance, and path generation. It outlines deriving the input-output relationship for a given linkage topology and determining linkage parameters to satisfy the relationship at discrete input points.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    19 views2 pages

    Of Linkages: 5. Synthesis

    Uploaded by

    mr e
    The document discusses exact synthesis methods for three linkage synthesis problems: function generation, rigid body guidance, and path generation. It outlines deriving the input-output relationship for a given linkage topology and determining linkage parameters to satisfy the relationship at discrete input points.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    5.

    Synthesis of Linkages

    5.1 INTRODUCTION. The problem of linkage synthesis of Applied Kinematics

    was outlined in Chapter 3. In the present chapter, the problem of exact

    synthesis is discussed and current methods of synthesis are presented. The

    three usual problems of synthesis are discussed, namely

    i) funtion generation

    ii) rigid body guidance

    iii) path generation

    and exact solutions to the resulting design equations are meant to be

    obtained, these solutions beinq exact up to round-off and/or measuring

    errors. Chapter 6 deals with the problem where no p.xact solution can be

    found, in which case the best approximation is sought, in the sense of

    rendering the minimum quadratic error in the approximation.

    5.2 SYNTHESIS FOR FUNCTION GENERATION

    Due to the fact that a linkage is a coupling of rigid bodies, a finite

    number of parameters (like those of the notation of Denavit and Hartenverg,

    Ch. 3) defines it. Hence, the set of design equations is of an algebraic

    character, i.e. no derivatives of the design parameters appear in them,

    and the number of these parameters is finite. Hence, no linkage can be

    obtained to produce an arbitrarily prescribed input/output function

    pointwise in the whole continuum of values of the input where the function

    is prescribed. The said function can only be produced at a finite set of

    input values, the number of this set being equal to the number of indepen-

    dent design parameters. Thus, the problem of linkage synthesis for function

    J. Angeles, Spatial Kinematic Chains


    © Springer-Verlag Berlin, Heidelberg 1982
    220

    generation can be stated as:

    "Given a function f=f(x i ) (i=1.2 •...• n). defined over a discrete set {xi}~'

    find the relevant dimensions of a linkage of a given topology* to produce

    an input-output relationship that coincides with the function f at the

    given discrete set {x.}n of input values". The method to solve this problem
    1 1
    consits of two stages. namely

    i) Derivation of the input-output relationship for the prescribed

    topology. and

    ii) Determination of the linkage parameters from the above relationship.

    The first stage is now discussed. In ch. 4 it was shown that the MDH** can

    be applied to obtain an input-output relationship that. hopefully. does not

    contain other variables than the input and the output. It was also shown

    that an alternate method. less complex than that of Denavit and Hartenberg.

    guarantees that only the input and the output variables will appear in the

    input-output relationship. That method. however. is restricted to single-

    loop mechanisms. whereas that of DH can be extended to multiple-loop

    mechanisms. Hence. either method can be applied in the first stage of this

    problem. for single-loop linkages. The second stage is carried out by two

    different approaches. which are next discussed. It is assumed that an

    input-outout implicit function has been obtained, this function having the

    general form

    f(x .• y .• p)=O.i=1.2 •... ,n (5.2.1)


    11-
    n
    where {(x .• y')}l is a set of n pairs of values relating the ith value of
    1 1

    the input x to the ith value of the output y. and p is an n-dimensional

    -*See Section 3.6


    **Method of Denavit and Hartenberg

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