Technical Brief

On RCCC Linkage Motion Generation With Defect Elimination for an Indefinite Number of Precision Positions

[+] Author and Article Information
Wen-Tzong Lee

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

Jose Cosme

Munitions Engineering and Technology Center,
U.S. Army Research,
Development and Engineering Center,
Picatinny, NJ 07806-5000
e-mail: jose.c.cosme.civ@mail.mil

Kevin Russell

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

1Corresponding author.

Manuscript received April 20, 2017; final manuscript received September 1, 2017; published online October 12, 2017. Assoc. Editor: Jian S. Dai.

J. Mechanisms Robotics 9(6), 064501 (Oct 12, 2017) (5 pages) Paper No: JMR-17-1115; doi: 10.1115/1.4038066 History: Received April 20, 2017; Revised September 01, 2017

A general optimization model for the dimensional synthesis of defect-free revolute-cylindrical-cylindrical-cylindrical joint (or RCCC) motion generators is formulated and demonstrated in this work. With this optimization model, the RCCC dimensions required to approximate an indefinite number of precision positions are calculated. The model includes constraints to eliminate order branch and circuit defects—defects that are common in dyad-based dimensional synthesis. Therefore, the novelty of this work is the development of a general optimization model for RCCC motion generation for an indefinite number of precision positions that simultaneously considers order, branch, and circuit defect elimination. This work conveys both the benefits and drawbacks realized when implementing the optimization model on a personal computer using the commercial mathematical analysis software package matlab.

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Grahic Jump Location
Fig. 1

RCCC linkage with joint descriptions and displacement variables

Grahic Jump Location
Fig. 4

Coupler and follower displacement angles (wrt crank displacement angle) for RCCC linkage

Grahic Jump Location
Fig. 3

Synthesized RCCC linkage

Grahic Jump Location
Fig. 2

Precision positions



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