bluuebunny/crossref_metadata_2025_split huggingface dataset:
On the Optimum Design of Planar and Spherical Drag-Link Mechanisms
Authors: Zanganeh Kourosh E. , Angeles Jorge 
Published: March 2021

Abstract
In this paper, two different procedures are proposed for the optimum design of drag-link planar and spherical four-bar linkages. First, we present a new graphical synthesis method based on 3-dimensional parametric plots of three commonly-used performance indices, namely, the design error, the structural error, and the transmission quality. The plots reveal that minimum values of the design and structural errors occur at a common point in a subspace that is defined by mobility constraints. Second, we propose a numerical procedure based on a constrained nonlinear least-square scheme that aims at optimizing the design error and transmission quality of the linkage. As shown by numerical examples, the graphical method provides a general picture of the problem under study and can be used to evaluate the goodness of the synthesized linkages.
Branch, Mobility Criteria, and Classification of RSSR and Other Bimodal Linkages
Authors: Ting Kwun-Lon , Dou Xiaohong 
Published: March 2021

Abstract
The article presents a classification scheme based on the number of branches that a linkage may have and a general Grashof type mobility criterion for a group of over sixty types of four-, five-, six-, and seven-bar linkages, including RSSR, RSSP, RPSC, RSCP, RCSP, RCCC, and Duffy’s Groups 1 and 1* spatial linkages (1980). The criterion is derived from the quartic discriminant of the quadratic equation relating the input and output displacements. It has the simplicity compatible to that of the Grashof criterion and includes the Grashof criterion but without its ambiguity on the branch problem. The derivation and the demonstration are carried out through RSSR and RSSP mechanisms. The simplicity and generality of the proposed criterion surpass any mobility criterion available so far for any spatial linkage.
Detection of Improper General Spatial Kinematic Chains With Different Types of Pairs
Authors: Kong Xian-Wen , Yang Ting-Li 
Published: March 2021

Abstract
Improper general spatial kinematic chains (GSKCs) due to the effect of pair types may be generated during the process of topological synthesis of GSKCs with different types of pairs. Thus, detection of improper GSKCs is necessary in topological synthesis of GSKCs with different types of pairs. Unfortunately, it is still an unsolved problem. In this paper, a method for detecting improper GSKCs is presented. Both a necessary and sufficient condition and a sufficient condition for proper GSKCs with R, P, H, T and C pairs are introduced at first. Based on these two conditions, an algorithm to detect improper GSKCs is then developed which is very efficient and suitable for topological synthesis of GSKCs with R, P, H, T and C pairs. The proposed algorithm has been applied to topological synthesis of 1- and 2-loop, single degree of freedom GSKCs with R, P, H, T and C pairs and the corresponding atlas is obtained.
A Study of the Position Problem for Multi-Circuit Mechanisms
Authors: Waldron Kenneth J. , Sreenivasan S. V. 
Published: March 2021

Abstract
It has been known for a very long time that the commonly used techniques for solution of the position problem of planar mechanisms are not general. Nevertheless, it is remarkable that many textbooks, and even reference books on planar kinematics do not acknowledge this fact. Others mentioned it briefly in passing. Even classic reference works such as Hain (1967) simply state that those problems which cannot be solved by conventional methods should be solved by trial and error.
An Inverse Force Analysis of a Planar Two-Spring System
Authors: Pigoski Thomas M. , Duffy Joseph 
Published: March 2021

Abstract
A closed-form inverse force analysis was performed on a planar two-spring system. The two springs were grounded to pivots at one end and attached to a common pivot at the other. A known force was applied to the common pivot of the system, and it was required to determine all of the assembly configurations. By variable elimination, a sixth degree polynomial in the resultant length of one spring was derived, and from this, six real solutions of the point of application of force were obtained. Following this, the applied force was incremented along a line and the six paths of the moving pivot were tracked starting from the zero-load configurations. An analysis of these results showed stability phenomena indicating the workspace of this system contained regions of negative spring stiffness and points of catastrophe.
Genetic Design of Dynamically Optimal Four-Bar Linkages
Authors: Porter Brian , Mohamed Samir S. , Sangolola Bamidele A. 
Published: March 2021

Abstract
It Is shown in this paper that, once the problem of designing dynamically optimal mechanisms is formulated as a constrained minimisation problem, genetic algorithms provide a procedure for solving this design problem which is very powerful but also very simple. These general results are illustrated by the genetic optimisation of a particular four-bar linkage that was previously optimised non-genetlcally. However, It is pointed out that the genetic design methodology described in this paper can in principle be used to minimise any desired combination of forces and couples in any mechanism.
Analytical Synthesis of Adjustable Dyads and Triads for Designing Adjustable Mechanisms
Authors: Chuenchom Thatchai , Kota Sridhar 
Published: March 2021

Abstract
The paper presents generalized analytical methods for designing adjustable mechanisms based on synthesis of adjustable dyads and triads. The synthesis methods presented here are extensions of the well-known Burmester precison point theory. The adjustable dyad (and traid) synthesis method enables one to design mechanisms for multiple sets of precision points (multiple tasks). Two or more adjustable dyads (or triads) assembled together to form four-bar or geared five bar mechanisms that meet the requirements of multiple tasks. The method generates all adjustable -dyad and -triad solutions for given sets of precision points. Synthesis formulations and the solution spaces are described in detail. Design examples illustrating the synthesis methods are also presented.
A New Method and Automatic Generation for Kinematic Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains
Authors: Shen Hui-Ping , Yang Ting-Li 
Published: March 2021

Abstract
This work presents a new method for kinematic analysis of planar complex mechanisms, i. e, the ordered single-opened-chains method. This method makes use of the ordered single-opened chains (in short, SOC.) along with the properities of SOC, and the network constraints relationship between SOC. By this method, any planar complex mechanism ran be automatically decomposed into a series of the ordered single-opened chains and the optimal structural decomposition route(s) can be automatically selected for kinematic analysis. The kinematic analysis equations with fewest unknown variables can be automatically generated and easily solved. Perhaps, the most attractive features of this method are its high automation and convergence in computer implementations.
This work firstly describes the principle of the ordered SOC method and then introduces the computer automatic generation of this method along with the application to two complex linkages.
The method developed can be easily extended to the kinemetic analysis of the spatial mechanisms.
The Dynamics of Rigid Objects on Shaking Belt Conveyors for Self-Orientation
Authors: Khader Khaled M. , Angeles Jorge , Moustafa Mahmoud A. , El-Shakery Sabry A. , Abou-Elnasr Raafat A. 
Published: March 2021

Abstract
Flexible manufacturing systems with belt conveyors that transport workpieces in batches to be picked up by a robot motivated this work. In such systems, workpieces are discharged onto a belt conveyor with arbitrary orientations and then transported to another station where a robot picks them up. In order to enhance the reliability of the robot and simplify its operation, the workpieces should be presented with the same orientation, which is the task of the conveyors studied here.
A New Method and Automatic Generation for Dynamic Analysis of Complex Planar Mechanisms Based on the Ordered Single-Opened-Chains
Authors: Zhang Jian-Qing , Yang Ting-Li 
Published: March 2021

Abstract
This work presents a new method for kinetostatic analysis and dynamic analysis of complex planar mechanisms, i.e. the ordered single-opened-chains method. This method makes use of the ordered single-opened chains (in short, SOC,) along with the properties of SOC, and the network constraints relationship between SOC,. By this method, any planar complex mechanism can be automatically decomposed into a series of the ordered single-opened chains and the optimal structural decomposition route (s) can be automatically selected for dynamic analysis, the paper present the dynamic equation which can be used to solve both the kinetostatic problem and the general dynamic problem. The main advantage of the proposed approach is the possibility to reduce the number of equations to be solved simultaneously to the minimum, and its high automation as well. The other advantage is the simplification of the determination of the coefficients in the equations, and thus it maybe result in a much less time-consuming algorthem. The proposed approach is illustrated with three examples.
The presented method can be easily extended to the dynamic analysis of spatial mechanisms.
The Development of Flex-Gears for the Conduction of Electricity Across a Continuously Rotating Joint
Authors: Peritt Jonathan M. , Tsai Lung-Wen , Vranish John M. 
Published: March 2021

Abstract
The transfer of electricity across a continuously rotating joint is especially important in robot joints and brush-type motors. In this paper, the shortfalls of present technologies, such as electric brushes, arc discussed. Flex-gears are presented as an alternative method of transferring electricity across a continuously rotating joint. A new type of gear, called a pitch-rolling-gear, is developed from involute gear technology for use as a flex-gear. Finally, the design of planetary flex-gear devices using pitch-rolling-gears is presented.
Using Geared Mechanisms to Increase the Thermal Efficiency of Conventional IC-Engines
Authors: Rocheleau David N. 
Published: March 2021

Abstract
Two different geared mechanisms are examined as an alternative to the conventional crank-slider mechanism that is used for the 4-stroke internal combustion engine. The purpose of these geared mechanisms is to provide variable-stroke length and constant-volume combustion. The variable-stroke length feature gives a power stroke which is two to three times longer than the compression stroke, which allows additional work to be extracted as the gas expands to nearly atmospheric pressure. The constant-volume combustion feature prevents the dissipation of compressive work during ignition. The combination of these two features leads to theoretical thermal efficiency gains of up to 45% over the standard fixed-stroke length Otto-cycle internal combustion engine.
Modeling Continuum Multibody Systems Using the Finite Element Method and Element Convected Frames
Authors: Wasfy Tamer M. 
Published: March 2021

Abstract
A new method for predicting the dynamic response of flexible multibody systems is developed. The method can account for large rigid-body motion and large deflections. The method is based on the Finite Element Method and the use of a new type of element convected frames. Continuum type elements are used to model the multibody system. The motion of the “nodes” is referred to a global inertial reference frame. D’Alembert principle is used to derive the system’s equations of motion, by invoking the equilibrium, at the nodes, of inertia forces, structural (internal) forces and externally applied forces. Structural forces on a node are calculated from the state of deformation of the elements surrounding that node. Each element has a convected frame which translates and rotates with it. This frame is used to extract the flexible deformation of the element from the total element motion. The orientation of a convected frame is found using the deformation gradient tensor and the Polar decomposition theorem. The equations of motion are solved along with constraint equations using a direct implicit iterative integration scheme. A numerical example is solved to demonstrate some of the features of the new method.
Numerical Solution and Experiment Researches on Flexible Multibody Dynamics
Authors: Hongzhao Liu , Weiqing Cao 
Published: March 2021

Abstract
In this paper, a numerical solution method and an experiment research on flexible multibody dynamics are presented. The augment method is employed to transfer the differential-algebraic equations into differential equations, both generalized coordinates and lagrange multipliers are treated as unknowns, and the second-order self-correcting algorithm is introduced to guarantee convergence. The lagrange multipliers are eliminated analytically, and the half implicit Runge-Kutta formula is taken for solving the differential equations. The whole procedure is developed into a FORTRAN program. An elastic linkage test bed and a measuring system are made for verification. The computing results are in agreement with the measuring data.
A General Theory for Complete Balancing of Shaking Force and Shaking Moment of Spatial Linkages Using Counterweights and Inertia-Counterweights
Authors: Yang Ting-Li , Zhang Ming , Zhang Jian-Qin 
Published: March 2021

Abstract
The links of a spatial linkage with v independent loops can be divided into two parts — a set of v chord-links and a tree-system. Add a suitable counterweight to each chord-link for satisfying the certain conditions, under which, the v chord-links can be completely shaking force-moment-balanced by the counterweights and inertia-counterweights attached to the tree-system of the linkage; The conditions for complete balance of shaking force and shaking moment of the tree system can be written directly without extracting them from the kinematic equation of the linkage; A formula which define the minimum number of inertia-counterweights needed for a complete shaking-moment-balance and the criteria for selecting the optimum chord-link set have been presented. Two examples (a Bennett linkage and a spherical six-bar linkage) are provided.
Linking a CAD System to an Expert System: A Step Towards a Knowledge-Based Design System for Mechanisms
Authors: Funk Wolfram , Kinzinger Rudolf 
Published: March 2021

Abstract
The design process can be divided into different phases. The best order in which the designer should execute these steps remains difficult to predict. In principle, conventional computer programs can only be applied to problems for which algorithms are available. Therefore, in many fields the design process did not allow computer support. The technology of knowledge-based systems has led to new perspectives. However, knowledge-based systems can only be utilized if the well-established design aid, CAD system, is integrated into the concept of knowledge-based computer support. Conceptual considerations and new approaches to linking a CAD system to an expert system, which assists the designer in solving kinematic problems, especially in the conceptual phase, are presented.
Dimensional Synthesis of Compliant Constant-Force Slider Mechanisms
Authors: Howell Larry L. , Midha Ashok , Murphy Morgan D. 
Published: March 2021

Abstract
Constant-force mechanisms produce a constant output force for a range of input displacements. Such mechanisms are important in applications with a varying displacement but a constant resultant force required. Constant-force mechanism designs have been limited to rigid-link mechanisms, but the design of compliant, or flexible link, constant force mechanisms could increase the number of applications by taking advantage of the unique characteristics of compliant mechanisms. Murphy (1993) developed type-synthesis theories for compliant mechanisms and applied them to generate possible configurations for compliant constant-force slider mechanisms. This paper concentrates on the dimensional synthesis of several of the resulting topologies. Optimization and the pseudo-rigid-body-model concept are employed in the design procedure. An example application as an electrical connection for use in electronic chip carriers is also illustrated.
Emulating Micro-Gravity in Laboratory Studies of Space Robotics
Authors: Corrigan Thomas R. J. , Dubowsky Steven 
Published: March 2021

Abstract
Experimentally evaluating micro-gravity control and planning algorithms for space robotic systems on earth is difficult because gravity masks the more subtle dynamic forces which dominate in space. Previous experimental test beds for micro-gravity have been largely restricted to planar motion, or have other limitations. Recently developed is a fully spatial system called the VES which overcomes many of these problems. However, compensating for the effects of gravity with the VES is a challenge. Here, two methods of gravity compensation are presented which allow fully spatial emulation of the micro-gravity interaction between a space manipulator and its supporting structure or spacecraft. Experimental results show the effectiveness of the methods.
Assembly Product and Cooperating Multi-Robot Cell Design Based on Constraints Interaction Analysis
Authors: Rajan Venkat N. 
Published: March 2021

Abstract
Cooperating multi-robot cells are highly flexible, reliable, and reconfigurable. Flexibility is obtained by the enhanced task processing capability due to cooperation, reliability is obtained by the ability to substitute failed robots by cooperating robot sets, and re-configurability is obtained by the ease with which the cell can be changed from one assembled product to another. These features can only be exploited by the proper design and planning of the cell.
Integrated assembly and task planning is essential to generate optimal plans by the application of both assembly and cell constraints simultaneously. In prior research the integrated Cooperation Requirement Planning (CRP) methodology was presented. In this paper the CRP methodology is used to show the effect of interactions between fixed assembly constraints and variable robot constraints on the design of assembly products and multi-robot cells. It is shown that the planning methodology can be used to exploit the cell capability with minimal redesign. In cases where this is not possible, the planning results indicate potential modifications to the multi-robot cell and/or the assembled product.
Optimal Robotic Assembly Planning Using Dijkstra’s Algorithm
Authors: Anand Sam , Sabri Mohamed 
Published: March 2021

Abstract
Robots play an important role in the modern factory and are used in a manufacturing cell for several functions such as assembly, material handling, robotic welding, etc. One of the principal problems faced by robots while performing their tasks is the presence of obstacles such as fixtures, tools, and objects in the robot workspace. Such objects could result in a collision with one of the arms of the robots. Fast collision-free motion planning algorithms are therefore necessary for robotic manipulators to operate in a wide variety of changing environments. The configuration space approach is one of the widely used methods for collision-free robotic path planning. This paper presents a novel graph-based method of searching the configuration space for a collision-free path in a robotic assembly operation. Dijkstra’s graph search algorithm is used for optimizing the joint displacements of the robot while performing the assembly task. The methodology is illustrated using a simple robotic assembly planning task.
Passive Assembly of Non-Axisymmetric Rigid Parts
Authors: Sturges R. H. , Laowattana Schitt 
Published: March 2021

Abstract
This paper addresses automatic assembly with passive rather than active compliant devices. Previous work has shown that in an ideal manufacturing environment three assembly primitives (prismatic insertions, threaded fits and general path insertions) exhibit a high level of difficulty. None of these are reliably assemblable under sensor-based force control or with an ordinary remote center compliance (RCC) device. In this paper, we extend the science of part mating and apply dexterity theory to synthesize a passive assembly device for precision fits of three-dimensional prismatic parts. This Spatial Remote Center Compliance (SRCC) obviates sensor-based and force control approaches to precision assembly of non-axisymmetric parts.
Collaborative Engineering Based on Knowledge Sharing Agreements
Authors: Olsen Gregory R. , Cutkosky Mark , Tenenbaum Jay M. , Gruber Thomas R. 
Published: March 2021

Abstract
The design of products by multi-disciplinary groups is a knowledge intensive activity. Collaborators must be able to exchange information and share some common understanding of the information’s content. The hope, however, that a centralized standards effort will lead to integrated tools spanning the needs of engineering collaborators is misplaced. Standards cannot satisfy the information sharing needs of collaborators, because these needs cannot be standardized.
This paper discusses the design and use of a shared representation of knowledge (language and vocabulary) to facilitate communication among specialists and their tools. The paper advances the opinion that collaborators need the ability to establish and customize knowledge sharing agreements (i.e. mutually agreed upon terminology and definitions) that are usable by people and their machines. The paper describes a formal approach to representing engineering knowledge, describes its role in a computational framework that integrates a heterogeneous mix of software tools, and discusses its relationship to current and emerging data exchange standards.
This work is supported by ARPA contract DAAA 15-91-C0104 as part of the SHADE project. (CDR TR# 19940912)
An Assembly Constraint Model for Parameterized Mechanical Systems
Authors: Wang J. H. , Wu J. K. 
Published: March 2021

Abstract
This paper (1) introduces Natural Assembly Relationships (NARs) to model assembly constraints between parts and (2) analyzes the constraint relationships that are defined using NARs for parameterized mechanical assemblies. The NARs are expressed as first order predicates using primitive features as arguments, such as planar and cylindrical surfaces. The concept of Basic Parameters Set is introduced as the design parameters in CAD systems, which, together with a set of form feature constraint relationships, maintains maximal consistency with original design meanings. Based on NARs, part parameters, and primitive features, design parameter chains can be constructed for closed loop assemblies. From these chains, constraint equations can be derived, which are the basis for change propagation and information management for mechanical system design.