A broadly applicable approach for numerical analysis of the kinematic working capability of mechanisms is presented. Composite workspaces are introduced to represent position and orientation capabilities of mechanisms, both individually and together. Numerical methods for solving systems of kinematic constraint equations, using a moving-frame algorithm and equations that characterize the workspace boundary are developed. Two analytic methodologies, comparison and incorporation methods, are presented to determine whether the workspace of a mechanism satisfies design requirements. An experimental computer program for workspace analysis that incorporates a numerical solver and computer graphics for visualization on a high speed graphics workstation is outlined. The feasible positioning space of a Stewart platform that is subject to orientation constraints is computed, to illustrate the use of this approach.
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March 1994
Research Papers
Numerical Analysis of the Kinematic Working Capability of Mechanisms
Feng-Cheng Yang,
Feng-Cheng Yang
Center for Simulation and Design Optimization of Mechanical Systems, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242
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E. J. Haug
E. J. Haug
Center for Simulation and Design Optimization of Mechanical Systems, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242
Search for other works by this author on:
Feng-Cheng Yang
Center for Simulation and Design Optimization of Mechanical Systems, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242
E. J. Haug
Center for Simulation and Design Optimization of Mechanical Systems, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242
J. Mech. Des. Mar 1994, 116(1): 111-118 (8 pages)
Published Online: March 1, 1994
Article history
Received:
August 1, 1991
Online:
June 2, 2008
Citation
Yang, F., and Haug, E. J. (March 1, 1994). "Numerical Analysis of the Kinematic Working Capability of Mechanisms." ASME. J. Mech. Des. March 1994; 116(1): 111–118. https://doi.org/10.1115/1.2919333
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