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Technical Brief

On Adjustable Planar Four-Bar Motion Generation With Order, Branch and Circuit Defect Rectification

[+] Author and Article Information
Qiong Shen

Softalink, LLC,
Kearny, NJ 07032
e-mail: john.shen@softalink.com

Wen-Tzong Lee

Department of Biomechatronics Engineering,
National Pingtung University of Science and Technology,
Shuefu Road, Neipu, Pingtung 91201, Taiwan
e-mail: wtlee@npust.edu.tw

Kevin Russell

Department of Mechanical and Industrial Engineering,
New Jersey Institute of Technology,
Newark, NJ 07102
e-mail: kevin.russell@njit.edu

Manuscript received June 10, 2013; final manuscript received October 12, 2014; published online December 4, 2014. Assoc. Editor: Qiaode Jeffrey Ge.

J. Mechanisms Robotics 7(3), 034501 (Aug 01, 2015) (5 pages) Paper No: JMR-13-1108; doi: 10.1115/1.4028828 History: Received June 10, 2013; Revised October 12, 2014; Online December 04, 2014

This work is an incremental extension of adjustable planar four-bar kinematic synthesis theory to consider not only synthesis, but also the elimination of the defects inherent in synthesis. A nonlinear equation system for moving pivot-adjustable planar four-bar motion generation that includes constraints for order defect, branch defect and circuit defect elimination is presented in this work. In the objective function of the equation system, the error between the prescribed and achieved precision positions is minimized. The equation system includes inequality constraints to eliminate order defects and branch defects. The equation system also includes a complete planar four-bar displacement model to eliminate circuit defects.

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Figures

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Fig. 1

Planar four-bar mechanism variables for displacement equations

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Fig. 2

Planar four-bar mechanism variables for constant length moving pivot adjustments

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Fig. 3

(Left) First and (right) second group of digger bucket precision positions

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Fig. 4

Synthesized adjustable motion generator

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