Type
Text
Type
Dissertation
Advisor
Zuo, Lei | Ge, Qiaode Jeffrey | Su, Haijun. | Purwar, Anurag
Date
2014-12-01
Keywords
Fourier, Kinematic Mapping, Kinematics, Mechanisms, Robotic System, Task driven | Mechanical engineering
Department
Department of Mechanical Engineering.
Language
en_US
Source
This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree.
Identifier
http://hdl.handle.net/11401/76442
Publisher
The Graduate School, Stony Brook University: Stony Brook, NY.
Format
application/pdf
Abstract
This dissertation deals with the problem of task driven design of mechanisms and robotic systems via Fourier and Kinematic Mapping schemes. Task driven design requires that the synthesis process be initiated from the task motion itself rather than from a specific mechanism or robotic system. In other words, extrinsic or intrinsic characteristics of task path or motion is considered as the driving force to the synthesis of mechanisms and robotics systems. Kinematic Mapping approach is applied in the framework of task driven design to synthesize multi-degrees-of-freedom planar and spatial manipulators in a unified way. We present novel, unified, and simultaneous type and dimensional synthesis approaches respectively to planar and spatial parallel manipulator synthesis by using kinematic mapping, surface fitting, and least squares techniques. Novelty of our approach lies in linearization of a highly non-linear problem and the fact that the nature of the given motion or displacement drives the synthesis process without assuming leg topology or their geometry. For analysis and simulation of four-bar motion, a unified and efficient algorithm is given through finding the parametrization of the planar four-bar motion in image space represented as intersection curves of two constraint manifolds. In the field of Computational Shape Analysis it is routine to process and simplify shapes before comparisons are made. The simplified representation of shapes is called shape descriptor, which is the intrinsic characteristic or the signature of the shape. In this dissertation, Fourier transform is employed to analyze the task path or motion and to obtain their signatures, termed as Fourier descriptors, in frequency domain. Therefore, we use Fourier descriptors to address the problem of path and motion synthesis of planar mechanisms. For motion synthesis problem, a given motion is represented by two finite harmonic series, one for translational component of the motion and the other for rotational component. It is shown that there is a simple linear relationship between harmonic content of the rotational motion and that of the translational motion for a planar four-bar linkage. For path synthesis problem, we present an algorithm resolving parameterization issue that has been often ignored in the past research. This approach has the advantage of unifying a variety of parameterizations into a unique one based upon the inherent property of the path. | 169 pages
Recommended Citation
Li, Xiangyun, "Task Driven Design of Mechanisms and Robotic Systems using Kinematic Mapping and Fourier Schemes" (2014). Stony Brook Theses and Dissertations Collection, 2006-2020 (closed to submissions). 2362.
https://commons.library.stonybrook.edu/stony-brook-theses-and-dissertations-collection/2362