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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Tse, David M. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present a novel method for motion generation task specification for spherical mechanisms. This is accomplished with a new methodology for determining the optimal design sphere and the orientations on this design sphere for a finite set of desired spatial positions. In addition, we include a modification to the method which enables the designer to require that one of the n desired spatial positions be exactly preserved. The result is that designers can now specify spherical mechanismmotion generation tasks without having to introduce into the design space an artificial design sphere. They are now free to work in unconstrained three-dimensional space. The application of this new task specification technique is discussed in a design case study. © 1998 by ASME.

关键词： Spheres

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Spades: Software for synthesizing spatial 4c mechanisms

Spades: Software for synthesizing spatial 4c mechanisms

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPADES, an interactive graphics based software package for spatial mechanismDESign. The program provides a platform for the synthesis of a mechanism that guides a body through either three or four prescribed positions in space. The purpose of this work is to assemble the current spatial 4C synthesis theory into a software package that is useful for spatial mechanism design and research. © 1998 by ASME.

关键词： Software packages

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Sphinxcam: Computer-aided manufacturing for spherical mechanisms

Sphinxcam: Computer-aided manufacturing for spherical mechan...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Ketchel, John S. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed by a brief review of some of the current computer-aided design (CAD) software for spherical four-bar mechanisms, e.g. SPHINX, SPHINXPC, and ISIS. These software packages provide the three-dimensional visualization and computational capabilities necessary to design spherical four-bar mechanisms. However, to date no tools exist to aid in the manufacture of spherical mechanisms. SPHINXCAM, when used with the CAD tools mentioned above, facilitates the design, visualization, and manufacture of spherical four-bar mechanisms. © 1998 by ASME.

关键词： Visualization

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CIRCUIT AND BRANCH RECTIFICATION OF THE spatial 4C MECHANISM

CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Larochelle, Pierre M. Mechanical Engineering Program Robotics and Spatial Systems Laboratory Florida Institute of Technology MelbourneFL32904 United States

ISBN: (纸本)9780791835173

spatial 4C mechanisms are two degree of freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical(C) joints. In this work we are concerned with the design of spatial 4C mechanisms which move a rigid body through a finite sequence of prescribed locations in space. This task is referred to as rigid-body guidance by Suh and Radcliffe (20) and as motion generation by Erdman and Sandor (6). When 4C mechanisms are synthesized for such a task, for example by utilizing Roth's spatial generalization of Burmester's planar methods (17;18), the result is the physical dimensions which kinematically define the mechanism. However, the motion of the mechanism which takes the work piece through the sequence of prescribed locations in space is not determined. In fact, it may be impossible for the mechanism to move the body through all of the desired locations without disassembling the mechanism. This condition is referred to as a circuit defect. Moreover, in some cases the mechanism may enter a configuration which requires an additional mechanical input to guide the moving body as desired. These are referred to as branch defects. This paper presents a methodology for analyzing spatial 4C mechanisms to eliminate circuit and branch defects in motion generation tasks. Copyright © 2000 by ASME.

关键词： Location

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Approximate motion synthesis of open and closed chains via parametric constraint manifold fitting: Preliminary results

Approximate motion synthesis of open and closed chains via p...

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Larochelle, Pierre M. Robotics/Spatial Systems Laboratory Department of Mechanical Engineering Florida Institute of Technology Melbourne FL 32901 United States

In this paper we present a novel dyad dimensional synthesis technique for approximate motion synthesis. The methodology utilizes an analytic representation of the dyad's constraint manifold that is parameterized by its dimensional synthesis variables. Nonlinear optimization techniques are then employed to minimize the distance from the dyad's constraint manifold to a finite number of desired locations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to planar, spherical, and spatial dyads. Here, we specifically address the planar RR, spherical RR and spatial CC dyads since these are often found in the kinematic structure of robotic systems and mechanisms. These dyads may be combined serially to form a complex open chain (e.g. a robot) or when connected back to the fixed link they may be joined so as to form one or more closed chains (e.g. a linkage, a parallel mechanism, or a platform). Finally, we present some initial numerical design case studies that demonstrate the utility of the synthesis technique.

关键词： Production engineering

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SPASUR: Interactive visualization of the coupler surfaces of the spatial 4C mechanism

SPASUR: Interactive visualization of the coupler surfaces of...

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ASME 2002 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2002

作者： Larochelle, Pierre M. Agius, Agnes Robotics and Spatial Systems Laboratory Mechanical and Aerospace Engineering Department Florida Institute of Technology MelbourneFL32901 United States

This paper presents a software tool entitled SPASUR (spatial SURface) for the interactive visualization of the coupler surfaces of the spatial 4C mechanism. The 4C mechanism is a two degree of freedom spatial four-bar linkage. The path traced by a point attached to the coupler or floating link defines a surface in space. An interactive graphical user interface has been created and integrated with kinematic analysis routines to generate and display these coupler surfaces. The result is a user-friendly and efficient means of generating and visualizing the coupler surfaces of the spatial 4C four-bar mechanism. © Copyright 2002 by ASME.

关键词： Degrees of freedom (mechanics)

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A classification scheme for planar 4r, spherical 4r, and spatial rccc linkages to facilitate computer animation

A classification scheme for planar 4r, spherical 4r, and spa...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Murray, Andrew P. Larochelle, Pierre M. Department of Mechanical and Aerospace Engineering University of Dayton DaytonOH45469-0210 United States Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology Melbourne FL32901 United States

ISBN: (纸本)9780791880319

In this paper we develop a complete classification scheme for planar, spherical and spatial four-bar linkages. The goal of this classification is to note all of the subtleties of motion that an arbitrary set of four link lengths can define. A classification should exist only between the mechanisms that exhibit similar ranges of motion at both the input and output. In the planar case, three parameters being identified as either positive, negative, or zero are necessary to completely characterize all possible ranges of motion. In the spherical and spatial cases, four parameters being identified as positive, negative or zero are needed. The result is 27 classifications of planar mechanisms and 81 for spherical and spatial RCCC mechanisms. © 1998 by ASME.

关键词： Spheres

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SPASUR: Interactive visualization of the coupler surfaces of the spatial 4C mechanism

SPASUR: Interactive visualization of the coupler surfaces of...

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作者： Larochelle, Pierre M. Agius, Agnes Robotics and Spatial Systems Laboratory Mechanical and Aerospace Engineering Department Florida Institute of Technology Melbourne FL 32901 United States

ISBN: (纸本)0791836215

关键词： Degrees of freedom (mechanics)

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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