Synthesis of Spatial CC Dyads and 4C Mechanisms for Pick & Place Tasks with Guiding Locations

摘要: A novel dimensional synthesis technique for solving the mixed exact and approximate motion problem spatial CC kinematic chains is presented. The methodology uses an analytic representation of dyad’s rigid body constraint equation in combination with algebraic geometry formulation perpendicular screw bisector to yield designs that exactly reach prescribed pick & place locations while approximating arbitrary number guiding locations. result a generation utilizes only does not require use any iterative optimization algorithms or metric on displacements. An example demonstrates included.