Kinematic Synthesis of Mechanisms
Kinematic Synthesis of Mechanisms
To design or create a mechanism to yield prescribed motion characteristics (kinematic parameters) satisfying the various constraints and under specified input motions. The general steps in kinematic synthesis are: Type Synthesis refers to the kind of mechanism selected (e.g., linkage, cams, gear trains and so on. Number Synthesis deals with the number of links or joints (pairs) to obtain certain mobility. Dimensional Synthesis is the detailed design process, in which the dimensions (say length) of individual links are decided. Note: Some authors combine Type and Number Synthesis and call it as Type Synthesis, since Number synthesis is not a generally applicable step for all kinds of mechanisms.
Function Generation:
The usual requirement in function generation is to design the mechanism for 2-5 precision points. Precision Point: In context of function generation, the precision points can be defined as the points at which the specified function and the function generated by the mechanism are exactly matching. Similar definitions can be given in path and motion generation cases also! If the precision points are not prescribed in the synthesis problem, they could be chosen to minimize the structural error, which is the difference between the specified function and the function generated by the mechanism. A first estimate for precision points is obtained by using the Chebychev Spacing (roots of Chebychev polynomial), which could be further optimized to reduce the structural error.
A2
A1 B2
2 1 2 1
B1
O2
O4
Kinematic Requirements: For the function generation, the precision points are given by ( 1, 1) & ( 2, 2), where the first coordinate is the input rotation and second coordinate is the output rotation.
A2
A1
O2
B2
B1
2 1 12
2 1
O2
O4
A2
A1
O2
B2
B1
2 1 12
2 1
O2
O4
A3
A2
A1
B3
23
B2
12
B1 ??
2 1
O2
O4
Kinematic Requirements: For the function generation, the precision points are given by ( 1, 1), ( 2, 2) & ( 3, 3), where the first coordinate is the input rotation and second coordinate is the output rotation.
O2 A3 A2 O2 A1
3 2 1 2
B2 B3 B1
23 13 12
12
O2
O4
O2 A3 A2 O2 A1
3 2 1 2
B2 B3 B1
23 13 12
12
O2
O4
10
A4
A3
A2
A1
B4
B3
B2 B1
O2
O4
11
B1 O2
B3 B4
B2
B1
O4
A4
A3
A2 A1
B4
B3 B2
O2 O4
B1
A4
A3
A2 A1
B4
B3 B2
O2 O4
B1
Path Generation:
The coupler point has to pass through a fixed number of points on a curve (usually 3 6 points). The task becomes more difficult in case of path generation with prescribed timing. A graphical method similar to the function generation can be used, but the inversion to be taken is by fixing the coupler.
16
A2 A1 O2
A3
O4
17
A2 O2 A1 O2 O2 A3
B1
O4
O4 O4
18
A2 O2 A1 O2 O2 A3
B1
O4
O4 O4
19
A2 A1
12 13
A3 O4
O2
20
P2
P3
P3
12 13
O2
O4
21
Motion Generation:
Assume that the coupler link has to pass through a number of positions (rigid body motion translation & rotation). Example for two prescribed positions.
B A A B
22
Motion Generation:
Example for two prescribed positions.
B A A B
O2
O4
23
Motion Generation:
Example for three prescribed positions.
B B A A A B
24
Motion Generation:
Example for three prescribed positions.
B B A A A B O4
O2
25
Motion Generation:
Example for three prescribed positions.
B B A A A B O4
O2
26