Design Synthesis. specified positions called precision points zero error at precision points small error between points - optimization
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1 esign Snthesis..situtions in the esign of mechnicl evices in which it is necessr to either guie rigi o through series of specifie, finitel seprte positions or to impose constrints limits on the velocit n/or ccelertion t reuce numer of finitel seprte positions. specifie positions clle precision points zero error t precision points smll error etween points - optimiztion
2 esign Snthesis Emple: 4 Br Linkge guince of rigi o p C p B Snthesis requires: - Specif n B - First position of n B crnk r r p r 4 crnk 4 r o B o Geometric constrint circulr rcs
3 esign Snthesis Ctegories of Snthesis osition Genertion esign linkge to guie rigi o through N specific positions/orienttions th genertion esign linkge to guie point on o to N specifie positions Function Genertion esign linkge to generte esire reltion etween input n output prmeters
4 esign Snthesis Sewing mchine,,,4 pth genertor 4 r linkge,,5,6 function genertor slier crnk 4
5 esign Snthesis Rigi o guince mechnisms crnk p r C p r 4 r B p r 4 crnk Snthesis requires: - Specif n B - First position of n B o B o Geometric constrint circulr rcs 5
6 6 esign Snthesis Constnt link length constrint Crnk isplcement Equtions n
7 7 esign Snthesis Velocit n ccelertion o t t Fie length Fie position velocit ccelertion Fie length, Initil position
8 8 esign Snthesis hree osition Crnk Snthesis - fin link tht cn guie rigi o thru positions o o,, constnt length from constrint equtions tht relte positions,,, 4
9 esign Snthesis Reltionship of to :, 5, 6 [] is X known isplcement mtrices, etermine from specifie positions of p,p,p of point p on the guie memer n θ,θ p 9
10 esign Snthesis,, Sustitute into constrint equtions unknowns equtions,,,,,,, 4,, 8 7
11 esign Snthesis since z z Eqns 7 n 8 cn e written in the form, z z z z, equtions Epn n comine ik n hs elements
12 esign Snthesis
13 esign Snthesis
14 4 esign Snthesis Results in liner equtions he crnk isplcement esign equtions 9,,
15 esign Snthesis Results in liner equtions he crnk isplcement esign equtions where : B C, 9 B C ssume position for, solve for,,b,c re fisplcement mtri elements n onl 5
16 6 esign Snthesis For velocit esign constrint equtions ik F E F E V t Constnt length links Fie point Sustitute into, epn n comine to get..
17 7
18 8
19 9 esign Snthesis i E F F E E E F E sustitute esign equtions in n For velocit esign constrint Since:
20 esign Snthesis For ccelertion esign constrint equtions : : ik R Q where R Q to les Q R R Q Q Q R Q with equtions Liner esign equtions for, With ccelertion constrint
21 esign Snthesis Emple: Crnk Snthesis finitel seprte positions of moving plne Where is initil position of?,.,..,.5.,.5 45 ssume =, Where is?
22 esign Snthesis isplcement mtrices c p s p p c s s p c p p s c c p s p p c s s p c p p s c 45.,.5.,.5.,.
23 esign Snthesis.7.994, ,.8,.65.5,, C B C B, C B C B Initil position
24 esign Snthesis Emple: Crnk Snthesis finitel seprte positions of moving plne =.994 =.7,.,..,.5.,
25 esign Snthesis Secon fie pivot t c Strting ngles n link lengths, c 5,.,..,.5 c.,.5 45 Where is c? 5
26 esign Snthesis ssume n fie pivot point t c =5, isplcement mtrices [] st the sme c B C B,.646, gives : c c B C.5, B c,.474, C 4.75 C c c.496 c c c.54, c.65 6
27 esign Snthesis Comining oth links crnks initil position.994,.7 Strting ngles n link lengths.9", c 5,.".,..,.5 c.54,-.65.,
28 8 esign Snthesis c c c c from /.44 tn /.994 tn /.994 tn
29 esign Snthesis 9
30 esign Snthesis Suh & Rcliffe Fig 6.
31 esign Snthesis Constnt Slope Equtions lne Sliers n ccelertion n velocit slier,, tn,, tn,4 tn
32 esign Snthesis Slier Snthesis,4, tn : written s or group n consoliting multipling
33 esign Snthesis z z z z mtrices isplcement
34 4 esign Snthesis Sustitute, epn n group to get: cos cos : F C B E B C C B B C where F E
35 5 esign Snthesis 4 4, 4 4 : * F E R rius E C C center sliers circle of circle eqution of F E E s rewrite F E ] [ F E E E *It works
36 esign Snthesis Fortuntel if θ or θ =, = C if B cos or cos with Liner eqution, stright line slier E F 4 6
37 esign Snthesis Slier snthesis possile slier solution points.,..,.5.,
38 8 esign Snthesis isplcement mtrices re the sme cos cos F C B E B C C B F E
39 esign Snthesis Locus of possile slier solution points ,.45.,. ick =, =.45 s strting point.,.5.,
40 4 esign Snthesis tn , fin to
41 esign Snthesis Crnk from 4 r snthesis 4
42 esign Snthesis ,.45.,..,.5.,
43 esign Snthesis HW 7 Four r linkge snthesis Use =5., =, Fin: initil position, secon position, p, p.,. p, p., r / sec p, p.,. 45 4
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