This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different combinations of the Euclidean and infinity n...

We have developed an interactive computer-aided design program that supports the mechanical design of devices fabricated in surface micro-machining processes. The program automates kinematic analysis via a novel configuration space computation code, performs real-time simulation and kinematic tolerance analysis, and supports kinematic synthesis. Designers can visualize system function under a r...

Kinematic synthesis of a trailing six-member mechanism has been carried out to achieve five precision points of an automotive steering mechanism. The inner wheel can be rotated up to forty five degrees with fair accuracy. Results show that the divergent end behavior of Ackermann Steering Mechanism has been overcome by the present mechanism. The work is similar to earlier work by the present ...

The kinematic synthesis of planar motion generators in the presence of an incomplete set of finitely separated poses is the subject of this paper. Given that the planar rigid-body guidance problem in the realm of four-bar linkage synthesis can be solved exactly for up to five prescribed poses of the coupler link, any number of poses smaller than five is considered incomplete in this paper. The ...

due to the high price of virgin vegetable oils and the drawbacks of the homogeneous catalytic transesterification, in this work an economically profitable alternative process was proposed for biodiesel synthesis in which transesterification of the low-cost waste cooking oil (wco) with methanol in a heterogeneous system was done. alumina impregnated with sodium hydroxide was utilized as a solid ...

The aim of this paper is to give a different method from the classic ones for the synthesis of the four-bar guiding mechanism. The method consists of the decomposition of the mechanism into small parts, simple kinematic chains, which are synthesized separately and then we put together the results, obtaining the synthesis of the whole mechanism.

A method to simulate the interactions between objects of a mechanism is described. The method can simulate planar kinematic chains of any length. The same method is used with modifications to generate the geometry of one object of a kinematic pair given the required functional relationship and the geometry of the other object. The planar contour shape of each object of a kinematic pair is repre...