Research Papers

On the Dual-Rod Slider Rocker Mechanism and Its Applications to Tristate Rigid Active Docking

[+] Author and Article Information
Paul M. Moubarak

e-mail: paul4@gwu.edu

Pinhas Ben-Tzvi

e-mail: bentzvi@gwu.edu
Robotics and Mechatronics Laboratory,
The George Washington University,
Washington, DC 20052

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received May 3, 2012; final manuscript received November 25, 2012; published online January 24, 2013. Assoc. Editor: Anupam Saxena.

J. Mechanisms Robotics 5(1), 011010 (Jan 24, 2013) (10 pages) Paper No: JMR-12-1054; doi: 10.1115/1.4023178 History: Received May 03, 2012; Revised November 25, 2012

The dual-rod slider rocker mechanism is equivalent to two traditional single-rod sliders that share a common rocker, where the sliders translate along two opposite directions. Unlike a single-rod system, the dual-rod mechanism is unique, in the sense that the two sliders do not translate the same distance for the same rocker rotation. In this paper, an optimal kinematic and dynamic analysis of the dual-rod slider rocker mechanism is presented. This analysis is supplemented by an application to modular robotic coupling, in which the mechanism is employed by a torque recirculation scheme to enable three independent modes of operation via a single motor. Simulation, finite element analysis, and experimental results validate the kinematic properties of this mechanism, the rigidity of the proposed docking interface, and its three modes of operation. We conclude that the compactness of the dual-rod mechanism, and its unique kinematic properties, exhibits a broad industrial value for applications where size and weight are a critical design constraint, such as space and mobile robotics.

Copyright © 2013 by ASME
Topics: Mechanisms , Torque , Engines
Your Session has timed out. Please sign back in to continue.


Smith, J. E., Smith, J. C., and McKisic, A. D., 1991, “A Comparative Study of the Stiller-Smith and Slider-Crank Mechanisms for Eight-Cylinder Internal Combustion Engine Use,” ASME J. Eng. Gas Turbines Power, 113, pp. 350–358. [CrossRef]
Liniecki, A., 1970, “Synthesis of a Slider-Crank Mechanism With Consideration of Dynamic Effects,” J. Mech., 5(3), pp. 337–349. [CrossRef]
Lieh, J., 1994, “Dynamic Modeling of a Slider-Crank Mechanism With Coupler and Joint Flexibility,” Mech. Mach. Theory, 29(1), pp. 139–147. [CrossRef]
Zhang, W. J., and Li, Q., 2006, “A Closed-Form Solution to the Crank Position Corresponding to the Maximum Velocity of the Slider in a Centric Slider-Crank Mechanism,” ASME J. Mech. Des., 128, 654–656. [CrossRef]
Figliolini, G., Conte, M., and Rea, P., 2012, “Algebraic Algorithm for the Kinematic Analysis of Slider-Crank/Rocker Mechanisms,” ASME J. Mech. Rob., 4(1), p. 011003. [CrossRef]
Soylemez, E., 2002, “Classical Transmission-Angle Problem for Slider-Crank Mechanisms, Mech. Mach. Theory, 37(4), pp. 419–425. [CrossRef]
Russell, K., and Sodhi, S. R., 2005, “On the Design of Slider-Crank Mechanisms. Part I: Multi-Phase Motion Generation,” Mech. Mach. Theory, 40(3), pp. 285–299. [CrossRef]
Tanik, E., 2011, “Transmission Angle in Compliant Slider-Crank Mechanism,” Mech. Mach. Theory, 46(11), pp. 1623–1632. [CrossRef]
Myszka, D., and Murray, A., 2010, “Slider-Cranks as Compatibility Linkages for Parametrizing Center-Point Curves,” ASME J. Mech. Rob., 2(2), p. 021007. [CrossRef]
Erkaya, S., Su, S., and Uzmay, I., 2007, “Dynamic Analysis of a Slider–Crank Mechanism With Eccentric Connector and Planetary Gears,” Mech. Mach. Theory, 42(4), pp. 393–408. [CrossRef]
Yi-Ming, W., 2005, “The Dynamics of a Slider-Crank Mechanism With an Initially Curved Coupler Under Two-Component Parametric Resonance,” J. Sound Vib., 280(3–5), pp. 815–835. [CrossRef]
Fung, R.-F., 1996, “Dynamic Analysis of the Flexible Connecting Rod of a Slider-Crank Mechanism,” ASME J. Vibr. Acoust., 118, pp. 687–689. [CrossRef]
Fallahi, B., Lai, S., and Venkat, C., 1995, “A Finite Element Formulation of a Flexible Slider Crank Mechanism Using Local Coordinates,” ASME J. Dyn. Syst., Meas., Control, 117, pp. 329–334. [CrossRef]
Tadjbakhsh, I., and Younis, C., 1986, “Dynamic Stability of the Flexible Connecting Rod of a Slider Crank Mechanism,” ASME J. Mech., Transm., Autom. Des.108, pp. 487–496. [CrossRef]
Khemili, I., and Romdhane, L., 2008, “Dynamic Analysis of a Flexible Slider–Crank Mechanism With Clearance,” Eur. J. Mech. A/Solids, 27(5), pp. 882–898. [CrossRef]
Antonescu, P., and Udriste, P. C., 1973, “Synthesis of Spatial Slider-Crank Mechanism for Given Slider Stroke and Crank Length,” Mech. Mach. Theory, 8(2), pp. 257–269. [CrossRef]
Premkumar, P., Dhall, S. R., and Kramer, S. N., 1988, “Selective Precision Synthesis of the Spatial Slider Crank Mechanism for Path and Function Generation,” J. Mech. Trans., 110, pp. 295–302. [CrossRef]
Parlaktas, V., and Tanik, E., 2011, “Partially Compliant Spatial Slider–Crank (RSSP) Mechanism,” Mech. Mach. Theory, 46(11), pp. 1707–1718. [CrossRef]
Shoup, T. E., 1984, “The Design of an Adjustable, Three Dimensional Slider Crank Mechanism,” Mech. Mach. Theory, 19(1), pp. 107–111. [CrossRef]
Yan, H.-S., and Liu, J.-Y., 1993, “Geometric Design and Machining of Variable Pitch Lead Screws With Cylindrical Meshing Elements,” ASME J. Mech. Des.115, pp. 490–495. [CrossRef]
Hollander, K., and Sugar, T. G., 2008, “Design of Lightweight Lead Screw Actuators for Wearable Robotic Applications,” ASME J. Mech. Des., 128, pp. 644–648. [CrossRef]
Yim, M., Shen, W.-M., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E., and Chirikjian, G. S., 2007, “Modular Self-Reconfigurable Robot Systems: Challenges and Opportunities for the Future,” IEEE Rob. Autom. Mag., 14(1), pp. 2–11. [CrossRef]
Moubarak, P., and Ben-Tzvi, P., 2012, “Modular Reconfigurable Mobile Robotics,” Rob. Auton. Syst., 60(12), pp. 1648–1663. [CrossRef]
Sao, T., Song, Y., Li, Y., and Zhang, J., 2010, “Workspace Decomposition Based Dimensional Synthesis of a Novel Hybrid Reconfigurable Robot,” ASME J. Mech. Rob., 2(3), p. 031009. [CrossRef]
Liu, G. P., Yang, J. B., and Whidborne, J. F., 2002, Multiobjective Optimisation and Control, 1st ed., Research Studies Press, Baldock, Hertfordshire, England, p. 4.
Liu, M., Cao, Y., Zhang, Q., and Zhou, H., 2010, “Kinematics and Dynamics Simulation of the Slider-Crank Mechanism Based on Matlab/Simulink,” International Conference on Computer Application and System Modeling (ICCASM'10), Taiyuan, China.
Østergaard, E. H., and Kassow, K., 2006, “Design of the ATRON Lattice-Based Self-Reconfigurable Robot,” Auton. Rob., 21(2), pp. 165–183. [CrossRef]
Zykov, V., Mytilinaois, E., Desnoyer, M., and Lipson, H., 2007, “Evolved and Designed Self-Reproducing Modular Robotics,” IEEE Trans. Rob., 23(2), pp. 308–319. [CrossRef]
Park, M., Chitta, S., Teichman, A., and Yim, M., 2008, “Automatic Configuration Recognition Methods in Modular Robots,” Int. J. Robot. Res., 27(3–4), pp. 403–421. [CrossRef]
Yim, M., Zhang, Y., Roufas, K., Duff, D., and Eldershaw, C., 2002, “Connecting and Disconnecting for Chain Self-Reconfiguration With PolyBot,” IEEE/ASME Trans. Mechatron., 7(4), pp. 442–451. [CrossRef]
Ünsal, C., Kiliççöte, H., and Khosla, P. K., 2001, “A 3-D Modular Self-Reconfigurable Bipartite Robotic System: Implementation and Motion Planning,” Auton. Rob., 10(1), pp. 23–40. [CrossRef]
Brown, H. B., Vande Weghe, J. M., Bererton, C. A., and Khosla, P. K., 2002, “Millibot Train for Enhanced Mobility,” IEEE/ASME Trans. Mechatron., 7(4), pp. 452–461. [CrossRef]
Moubarak, P., and Ben-Tzvi, P., 2011, “STORM Animation,” retrieved on February 2011, http://www.seas.gwu.edu/∼bentzvi/STORM/STORM_VR_Animation.html
Moubarak, P., Ben-Tzvi, P., Ma, Z., and Alvarez, E., 2012, “Demonstration of the Three Modes of Operation of the Tri-Partite Docking Interface,” retrieved on January 2012, http://www.seas.gwu.edu/∼bentzvi/STORM/DOK.html


Grahic Jump Location
Fig. 1

Isometric schematic and corresponding kinematic diagram of the dual-rod slider rocker mechanism

Grahic Jump Location
Fig. 2

Kinematics of the dual-rod slider rocker mechanism

Grahic Jump Location
Fig. 3

Meshed solution space of the optimal problem in (14)

Grahic Jump Location
Fig. 4

Free body diagram of the dual-rod slider rocker mechanism

Grahic Jump Location
Fig. 5

Displacements of top slider (y), bottom slider (y′), combined stroke (y − y′), and relative translation offset plotted versus time

Grahic Jump Location
Fig. 6

Velocity profiles of the top and bottom sliders, and relative velocity difference, plotted as a function of time for h′

Grahic Jump Location
Fig. 7

Acceleration profiles of the top and bottom sliders, plotted as a function of time for c

Grahic Jump Location
Fig. 8

Schematic of the coupling interface showing the docking shaft and the dual-rod slider rocker mechanism

Grahic Jump Location
Fig. 9

Exploded schematic view of the tristate docking interface, its three modes of operation, and a proof-of-concept prototype shown connected to a small mobile robot (Central Motor: 50 W, 35 N m max. torque, Selection Motor: 15 W, 12 N m max. torque)

Grahic Jump Location
Fig. 10

Transmission schematic of the tristate docking interface

Grahic Jump Location
Fig. 11

Three modes of operation of the docking interface, and the active revolute joint in the clamp mode: (a) Drive Mode, (b) Neutral Mode, (c) Clamp mode

Grahic Jump Location
Fig. 12

Comparison of experimental and simulated optimal displacement of the two sliders of the dual-rod mechanism in the ascending and descending strokes. Note the conformity of the two datasets, and the ability of the two sliders to simultaneously reach the terminal boundary conditions in both cases (i.e., e = 0 at both Open BC and Close BC).

Grahic Jump Location
Fig. 13

Width comparison of the C-Mech with (a) dual-rod slider rocker mechanism and (b) lead screw mechanism

Grahic Jump Location
Fig. 14

Finite elements analysis of the dual-rod slider rocker mechanism in the clamp mode. (a) Clamp separation gap at a torque of 23 N m without pins. (b) No separation with pins, and load propagation toward the rails (input torque 45 N m).

Grahic Jump Location
Fig. 15

Rocker torque as a function of the torque applied on the active joint in the clamp mode. (a) No pins, note the separation at 24 N m, (b) with pins.




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In