Profile Synthesis of Planar Rotational–Translational Variable Joints

Brian J. Slaboch; Philip A. Voglewede

doi:10.1115/1.4027700

Journal of Mechanisms and Robotics | Volume 6 | Issue 4 | research-article

< Previous Article Next Article >

Research Papers

Profile Synthesis of Planar Rotational–Translational Variable Joints

Brian J. Slaboch and Philip A. Voglewede ¹

[+] Author and Article Information

Brian J. Slaboch

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: Brian.Slaboch@marquette.edu

Philip A. Voglewede

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: Philip.Voglewede@marquette.edu

Nominal refers to the general shape of a joint, but not necessarily the final shape given that it may need to be modified to account for clearance or friction.

Note that R_uP_v variable joints are kinematically equivalent to P_vR_u variable joints.

Tolerances are ignored because there has been much work done by Sacks and Joskowicz [12] on the tolerance analysis of higher pairs. The focus of this work is purely on the kinematic analysis.

The profile of link 2 is considered to be a set of points as opposed to the lines and arcs that define link 1. It should also be noted that the points are rigidly connected to form the joint profile.

ϒ₁ is not placed in the table because it is used for every joint.

¹Corresponding author.

²The term “reconfigurable mechanism” should not be confused with self-reconfigurable robots which are not the focus of this work.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received August 22, 2012; final manuscript received January 14, 2014; published online July 2, 2014. Assoc. Editor: Jian S. Dai.

J. Mechanisms Robotics 6(4), 041012 (Jul 02, 2014) (9 pages) Paper No: JMR-12-1124; doi: 10.1115/1.4027700 History: Received August 22, 2012; Revised January 14, 2014

Article

References

Figures

Tables

Citing Articles

Abstract

This paper presents an approach to the profile synthesis of planar, variable joints by combining higher variable joints. The possible permutations of planar, variable joints that change from a rotational to translational motion will be enumerated. A method will be provided to determine the profiles of variable joints, and a practical example will be presented to illustrate the proposed method.

FIGURES IN THIS ARTICLE

Purchase this Content

$25.00

Purchase

Learn about subscription and purchase options

Your Session has timed out. Please sign back in to continue.

References

Figures

Fig. 1

Rotational to translational variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 2

(a) General profile of a joint. (b) The profiles of link 1 and link 2 constrain the motion of link 1 relative to link 2.

View Large | Save Figure | Download Slide (.ppt)

Fig. 3

Higher variable joints

View Large | Save Figure | Download Slide (.ppt)

Fig. 4

Different cases for revolute higher variable joints

View Large | Save Figure | Download Slide (.ppt)

Fig. 5

R₁P₁ variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 6

R₁R₂R₃ variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 7

Configuration space for a R_uP_v variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 8

General joint profile

View Large | Save Figure | Download Slide (.ppt)

Fig. 9

A change of δ₁ in the radial direction

View Large | Save Figure | Download Slide (.ppt)

Fig. 10

The R_uP_v variable joints

View Large | Save Figure | Download Slide (.ppt)

Fig. 11

Design configuration space representation of adjustable pliers

View Large | Save Figure | Download Slide (.ppt)

Fig. 12

The R₁P₂ variable joint for adjustable pliers

The R1P2 variable joint for adjustable pliers

View Large | Save Figure | Download Slide (.ppt)

Fig. 13

Different configurations of the R₁P₂ variable joint

Different configurations of the R1P2 variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 14

Design configuration space representation of adjustable pliers

View Large | Save Figure | Download Slide (.ppt)

Fig. 15

R₁P₂ adjustable plier design

View Large | Save Figure | Download Slide (.ppt)

Fig. 16

R₃P₂ variable joint

View Large | Save Figure | Download Slide (.ppt)

Fig. 17

R₃P₂ adjustable plier design

View Large | Save Figure | Download Slide (.ppt)

Fig. 18

Adjustable plier designs

View Large | Save Figure | Download Slide (.ppt)

Fig. 19

Knipex R₂ adjustable plier design

View Large | Save Figure | Download Slide (.ppt)

Fig. 20

Craftsman R₁ adjustable plier design

View Large | Save Figure | Download Slide (.ppt)

Tables

Errata

Discussions

Web of Science® Times Cited: 3

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

PDF
Email

You must be logged in as an individual user to share content.

Return to: Profile Synthesis of Planar Rotational–Translational Variable Joints

Copyright in the material you requested is held by the American Society of Mechanical Engineers (unless otherwise noted). This email ability is provided as a courtesy, and by using it you agree that you are requesting the material solely for personal, non-commercial use, and that it is subject to the American Society of Mechanical Engineers' Terms of Use. The information provided in order to email this topic will not be used to send unsolicited email, nor will it be furnished to third parties. Please refer to the American Society of Mechanical Engineers' Privacy Policy for further information.
Share
Get Citation

Slaboch BJ, Voglewede PA. Profile Synthesis of Planar Rotational–Translational Variable Joints. ASME. J. Mechanisms Robotics. 2014;6(4):041012-041012-9. doi:10.1115/1.4027700.

Download citation file:

RIS (Zotero)

EndNote

BibTex

Medlars

ProCite

RefWorks

Reference Manager

© Copyright
Get Alerts

Processing your request... Please Wait.

Profile Synthesis of Planar Rotational–Translational Variable Joints

Abstract

FIGURES IN THIS ARTICLE

References

Figures

Tables

Errata

Discussions

Related Content

Journals

Conference Proceedings

eBooks