Tài liệu Enumeration of Kinematic Structures According to Function P9 doc

... (Courtesy of Toyoda Machine Works Ltd., Aichi-Pref., Japan.) kinematic structures of parallel manipulators according to their nature of motion anddegrees of freedom.9.2.3 Enumeration of Planar ... enumeration of the kinematic structures of paral-lel manipulators. Note that we have limited ourselves to those manipulators withthe number of limbs equal to the number of degrees of freedom and ... and spa-tial mechanisms. The kinematic structures of parallel manipulators are enumerated according to their degrees of freedom and connectivity listing [22].9.2.1 Functional RequirementsAs shown...

Tài liệu Enumeration of Kinematic Structures According to Function P2 doc

... rise to two different dual graphs.Sohn and Freudenstein [4] applied the concept of dual graphs for the development of anautomated procedure for the enumeration of the kinematic structures of ... end vertices, it contributes 2 to the sum of the degrees of the vertices. Therefore, the sum of the degrees of all vertices in a graphis equal to twice the number of edges:idi= 2e. (2.4)For ... boundary of two loops, it contributes 2 to the sum of theproduct i × Li. Hence,iiLi= 2e. (2.7)Let vkdenote the number of vertices of degree k, namely,v2denotes the number of vertices of...

Tài liệu Enumeration of Kinematic Structures According to Function P7 doc

... number of gear pairs is equal to the number of independentloops; the number of turning pairs is equal to the number of links diminished by one;and the number of degrees of freedom is equal to the ... corresponds to the carrier of a gear pair. Using these structuralcharacteristics, various methods of enumeration were presented. An atlas of EGTswith one, two, and three-dof and with up to four ... Polynomial to the Topological Synthesis of Epicyclic Gear Trains, ASME Journal of Mecha-nisms, Transmissions, and Automation in Design, 109, 3, 329–336.[15] Tsai, L.W., 1988, The Kinematics of Spatial...

Tài liệu Enumeration of Kinematic Structures According to Function P11 docx

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Tài liệu Enumeration of Kinematic Structures According to Function P3 pptx

... Synthesis of Kinematic Structure of Geared Kinematic Chains and other Mechanisms, Journal of Mechanisms,5, 357–392.[2] Chatterjee, G. and Tsai, L.W., 1994, Enumeration of Epicyclic-Type AutomaticTransmission ... Creation of Mechanisms According to Kinematic Structure and Function, Journal of Environmental and Planning B,6, 375–391.[7] Freudenstein, F. and Yang, A.T., 1972, Kinematics and Statics of a CoupledEpicyclic ... assemblage of links connected by joints. The study of thenature of connection among various links of a kinematic chain is called the structuralanalysis or topological analysis. To facilitate...

Tài liệu Enumeration of Kinematic Structures According to Function P4 ppt

... SymbolNumber of verticesvNumber of linksnNumber of edgeseNumber of jointsjNumber of vertices of degreeiviNumber of links havingijointsniDegree of vertexidiNumber of joints on ... Degrees of FreedomThe degrees of freedom of a mechanism is perhaps the ﬁrst concern in the study of kinematics and dynamics of mechanisms. The degrees of freedom of a mechanismrefers to the ... identiﬁcation of the topological structures of kinematic chains.For example, Buchsbaum and Freudenstein [6] classiﬁed the graphs of epicyclicgear trains according to their (1) number of vertices,...

Tài liệu Enumeration of Kinematic Structures According to Function P8 pdf

... we ﬁrst identify the functional requirements. Then, we translatesome of the requirements into structural characteristics for the purpose of enumeration of the kinematic structures. Lastly, we ... housing.The torque converter has three purposes. First of all, it serves as a ﬂuid coupling to provide a smooth transmission of torque from the engine to the wheels. It also allowsa vehicle to stop ... circumference of the turbine blades and reenters the impellerthrough the stator blades. The purpose of the stator blades is to redirect the ﬂuid ﬂowfrom the turbine to the impeller, providing a torque...

Tài liệu Enumeration of Kinematic Structures According to Function P10 ppt

... Solving One LinearEquation in n Unknowns.FORI1= 0TO q1x(1) = I1FORI2= 0TO q2x(2) = I2FORI3= 0TO q3x(3) = I3...FORIn−1= 0TO qn−1x(n − 1) = In−1x(n) = (k − c(1) ∗ x(1) ... accomplished by a com-puter program using a nested-do loops algorithm to vary the value of each xiandcheck for the validity of the solutions. A more rigorous procedure for solving onelinear ... constants kis are positiveintegers, and n>m. Furthermore, the solutions to the system of equations aresubject to a constraint that all the variables xi, for i = 1, 2, ,n, must be nonnegativeintegers....

Tài liệu Enumeration of Kinematic Structures According to Function P12 pptx

... Appendix CAtlas of Graphs of Kinematic ChainsThis appendix provides an atlas of graphs of kinematic chains having up to threeindependent loops and eight links.Table ... links.Table C.1Graphs Having One Independent Loop: Three to Eight Vertices.© 2001 by CRC Press LLCTable C.2Graphs Having Two Independent Loops: Four to Eight Vertices.© 2001 by CRC Press LLCTable ... to Eight Vertices.© 2001 by CRC Press LLCTable C.3Graphs Having Three Independent Loops: Five to Six Vertices.© 2001 by CRC Press LLCTable C.4Graphs Having Three Independent Loops: Seven...

Tài liệu Enumeration of Kinematic Structures According to Function P13 pdf

... Appendix DAtlas of Planar Bar LinkagesThis appendix provides an atlas of planar linkages classiﬁed according to the number of degrees of freedom, the number of independent loops, the ... One-dof Eight-Bar Linkages: Part 4.Table D.7Planar Two-dof Five-Bar Linkage.© 2001 by CRC Press LLCTable D.8Planar Two-dof Seven-Bar Linkages.© 2001 by CRC Press LLCTable D.9Planar Two-dof ... D.14Planar Two-dof Nine-Bar Linkages: Part 6.© 2001 by CRC Press LLCTable D.15Planar Three-dof Linkages: One and Two Independent Loops.© 2001 by CRC Press LLCTable D.2Planar One-dof Six-Bar...

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