A Software Architecture for Internet-Aided Design of Linkages

This paper describes a Java-based architecture for a computer-aided-design system for spatial linkages. These linkages are formed by a workpiece supported by one or more serial chains. The task of the linkage is defined by specifying rigid positions for the workpiece that approximate a desired workspace. Because there are many serial chains available for this design process, the architecture is organized to allow incorporation of individually defined serial chain classes and synthesis routines. Here we present the basic components of the design system as well as the structure of the mechanism analysis and synthesis classes. Their integration is demonstrated using a set of classes developed for three position synthesis of spatial RR chains and TS chains. Serial chains can be combined to form more complex parallel linkage architectures, each of which must be analyzed for display and animation. The system provides for incorporation of specially tailored kinematic analysis routines for arbitrary spatial linkage prototypes. The result is an extensible system that supports the design of planar, spherical, and spatial serial and parallel linkage topologies.