This paper discusses the application of genetic programming to the synthesis of compound 2D kinematic mechanisms, and benchmarks the results against one of the classical kinematic challenges of 19 century mechanical design. Considerations for selecting a representation for mechanism design are presented, and a number of human-competitive inventions are shown.

We describe a parameter synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part translates along a fixed axis or rotates around a fixed point. This is an important class of systems and is not addressed by prior synthesis research. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration space...

Many problems in kinematic synthesis of mechanisms and robots lead naturally to systems of bilinear equations in design parameters. Such systems are typically solved using well-known methods for solutions of systems of polynomial equations, e.g., Dialytic Elimination, Grobner bases, and Polynomial Continuation. This paper presents a new nullspace analysis method for solving a system of bilinear...

We describe a parameter synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part translates along a fixed axis or rotates around a fixed point. This is an important class of systems and is not addressed by prior synthesis research. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration space...

This paper introduces a new approach to the conceptual design of mechanical systems from qualitative speciications of behaviour. The power of the approach stems from the integration of techniques in qualitative physics and constraint programming. We illustrate the approach with an eeective kinematic synthesis method that reasons with qualitative representations of connguration spaces using cons...

Snake robots are highly articulated mechanisms that can perform a variety of motions that conventional robots cannot. Despite many demonstrated successes of snake robots, these mechanisms have not been able to achieve the agility displayed by their biological counterparts. We suggest that studying how biological snakes coordinate whole-body motion to achieve agile behaviors can help improve the...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...