With the current emphasis on automation, the need for single actuator mechanical devices that can perform simple repetitive tasks much more economically, energy-efficiently and accurately than multiple-degree-of-freedom, multiple-actuator robotic manipulators is greatly felt. This paper presents an optimum synthesis technique for the RRSS path generating spatial mechanism with prescribed input timing. The selective precision synthesis technique is used to formulate the nonlinear constraint equations involving accuracy neighborhoods and corresponding error envelopes and these are then solved using the generalized reduced gradient method of optimization. The mathematical formulation and derivation as well as numerical examples are presented in this paper.
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December 1986
This article was originally published in
Journal of Mechanisms, Transmissions, and Automation in Design
Research Papers
A Computer-Aided-Design Technique for the Optimum Synthesis of RRSS Path Generating Spatial Mechanisms With Prescribed Input Timing
P. Premkumar,
P. Premkumar
Department of Mechanical Engineering, The University of Toledo, Toledo, OH 43606
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S. N. Kramer
S. N. Kramer
Department of Mechanical Engineering, The University of Toledo, Toledo, OH 43606
Search for other works by this author on:
P. Premkumar
Department of Mechanical Engineering, The University of Toledo, Toledo, OH 43606
S. N. Kramer
Department of Mechanical Engineering, The University of Toledo, Toledo, OH 43606
J. Mech., Trans., and Automation. Dec 1986, 108(4): 538-542 (5 pages)
Published Online: December 1, 1986
Article history
Received:
July 1, 1986
Online:
November 19, 2009
Citation
Premkumar, P., and Kramer, S. N. (December 1, 1986). "A Computer-Aided-Design Technique for the Optimum Synthesis of RRSS Path Generating Spatial Mechanisms With Prescribed Input Timing." ASME. J. Mech., Trans., and Automation. December 1986; 108(4): 538–542. https://doi.org/10.1115/1.3258766
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