Relevant bibliographies by topics / Kinematic synthesis

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Kinematic synthesis'

Author: Grafiati
Published: 4 June 2021
Last updated: 11 June 2025

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Journal articles on the topic "Kinematic synthesis"

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James, P. A., and B. Roth. "A Unified Theory for Kinematic Synthesis." Journal of Mechanical Design 116, no. 1 (1994): 144–54. http://dx.doi.org/10.1115/1.2919338.

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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely-separated position kinematics. Expanding on previous work, we extend the unified theory to include spatial kinematic synthesis and we present a new numerical method. The new methods serve to unity finite, infinitesimal, and hybrid kinematic synthesis into one theory for kinematic synthesis.
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James, P. A., and B. Roth. "A Unified Theory for Finite, Infinitesimal, and Hybrid Kinematic Synthesis." Journal of Mechanical Design 115, no. 3 (1993): 552–59. http://dx.doi.org/10.1115/1.2919225.

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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely separated position kinematics. New relationships are introduced and a new numerical method is presented. Within the scope of linear, analytic theories, the loci associated with infinitesimal position theory and the loci associated with hybrid finite-infinitesimal position theory are shown to always be limiting cases of the corresponding finite theory. These new methods serve to unify finite, infinitesimal, and hybrid kinematic synthesis theories.
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Chakarov, D., K. Kostadinov, D. Gotseva, and T. Tiankov. "Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations." Solid State Phenomena 147-149 (January 2009): 25–30. http://dx.doi.org/10.4028/www.scientific.net/ssp.147-149.25.

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This paper describes how the web technologies are utilized for a robot system synthesis. A web application is created for automation of the synthesis of closed structures for micro- and nano-applications, utilizing the advantages tense piezo-actuators and closed robot kinematical structures. The algorithm, integrated into the developed web based application, offers a synthesis of robot kinematic chains without extensive knowledge in this domain. The aim is to facilitate synthesis of such kind of kinematic chains from specialists who will generate optimal solutions for automation and robotisation of the requested micro- and nano-process.
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Толстошеев, Андрей, Andrey Tolstosheev, Вячеслав Татаринцев, and Vyacheslav Tatarincev. "STRUCTURAL SYNTHESIS OF SELF-ALIGNING GEARS OF INDUSTRIAL ROBOTS WITH PARALLEL KINEMATICS." Bulletin of Bryansk state technical university 2019, no. 4 (2019): 4–13. http://dx.doi.org/10.30987/article_5cb58f4ed2c444.85435034.

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The aim of this work is an analysis of excess ties in handler closed kinematics and development of the structural synthesis procedure for self-aligning gears of industrial robots with parallel kinematics. The design of a structure flowchart of a gear without excess ties in the procedure offered is carried out by means of prototype mechanism updating and includes the following stages: the reveal and analysis of excess ties, excess ties elimination, correctness checkup of excess ties elimination. For the excess ties analysis and solution check-up a structural analysis is carried out. At that a handler is presented as a hierarchal structure described by some structural models. The ways for excess ties elimination: the substitution of one kinematic pair for another one with a higher number of mobility; the introduction of an additional link and one kinematic pair into a kinematics; the elimination from the kinematics an extra link with two kinematic pairs; the substitution in the kinematics a flat hinge parallelogram for a forward pair. There are developed some versions of structural diagrams of self-aligning handlers on the basis of an ortho- glide gear. The procedure offered allows defining the number and a type of excess ties in the kinematics of a gear, eliminating excess ties and forming structural diagrams of self-aligning gears with the conservation of basic operating properties on the alternative basis. The application of structural diagrams of handlers without contour excess ties is one of the ways to increase reliability and manufacturability of designs of industrial robots with parallel kinematics.
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Yang, Qiang, Hongkun Ma, Jiaocheng Ma, Zhili Sun, and Cuiling Li. "Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method." Applied Sciences 11, no. 19 (2021): 9002. http://dx.doi.org/10.3390/app11199002.

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Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation, a model is presented considering errors from the kinematic parameters describing the mechanism’s geometry, clearance errors associated with revolute joints and driving errors associated with actuators. The response surface method is employed to build an explicit limit state function for describing position errors of the end-effector in the combined direction. As a result, a mathematical model of kinematic reliability of the improved Delta mechanism is derived considering the randomness of every input error component. And then, reliability sensitivity of the improved Delta parallel mechanism is analyzed, and the influences of the randomness of each input error component on the kinematic reliability of the mechanism are quantitatively calculated. The kinematic reliability and proposed sensitivity analysis provide a theoretical reference for the synthesis and optimum design of parallel mechanisms for kinematic accuracy.
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Timofeev, G. A., I. Z. Kataev, and D. M. Samsonenko. "Research of the Rhombic Mechanism Kinematics." Proceedings of Higher Educational Institutions. Маchine Building, no. 4 (733) (April 2021): 12–17. http://dx.doi.org/10.18698/0536-1044-2021-4-12-17.

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Designing modern mechanisms and machines is a very complex and iterative process. One of its first stages is the kinematic analysis of mechanisms followed by structural, dynamic, kinetostatic, etc. The scheme of an asymmetric rhombic mechanism with a developed drive arm of the working group is investigated. The kinematics of the characteristic links points of this mechanism is considered: their kinematic pairs and centers of mass. The kinematics of points and links of this mechanism is considered. The main dependencies for determining the analogs of the velocities and accelerations of points and links of the mechanism are presented. To solve the kinematics tasks the Zinoviev’s method of vector contours was used. The results of the kinematic analysis can be used for dynamic and kinetostatic research of the asymmetric rhombic mechanism with a developed drive arm of the working group, as well as for optimization synthesis of its design.
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Tuleshov, Amandyk, Recep Halicioglu, Azhar Shadymanova, and Moldir Kuatova. "Kinematic synthesis method and eccentricity effects of a Stephenson mechanism." Mechanical Sciences 12, no. 1 (2021): 1–8. http://dx.doi.org/10.5194/ms-12-1-2021.

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Abstract. When implementing the technological process on crank presses, it is necessary to provide a predetermined working cycle of the slider motion: fast lifting, dwell, and slow lowering. The cycle cannot be realized without controlling the motor. In addition, using controllable motors increases the manufacturing cost. Due to the geometric and kinematic capabilities of the mechanism, changing the kinematics of the working link is the best choice. Thanks to the use of the Stephenson II mechanism, the slider skew is eliminated due to the parallel connecting rods and the increased area of slider contact. This study presents a numerical method for kinematic synthesis of the Stephenson mechanism that has kinematic advantages. The method is based on mean square deviation which is the minimizing of an objective function. Thanks to the proposed synthesis method, approximate dwell movement can be performed when the slider is on the bottom dead center. In this study, values of the crank length and parallel connecting rods' lengths, angular coordinates of the crank and connecting rods, and the eccentricity of the guide slider relative to the crank rotation axis were obtained. It is observed that eccentricity affects the lower forward and higher backward speed of the slider. The kinematic results of the slider movement are comparatively presented in this article.
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Staretu, Ionel. "The Structure, Work Space and Direct Kinematic of the Robots with 8 Axes of Type T Normal R Parallel (PM)(OM)." Applied Mechanics and Materials 658 (October 2014): 718–23. http://dx.doi.org/10.4028/www.scientific.net/amm.658.718.

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The paper presents first structural synthesis aspects of serial redundant open kinematic chains for industrial robots. These chains are obtained from 3-axis positioning kinematic chains that create non-degenerate workspaces plus first a rotation or translation coupling in parallel or perpendicular position, obtaining structures with 7-axis, to which by adding in the same way one more rotation or translation coupling structures with 8 axes are obtained. Below we present the direct kinematics analysis for this kinematic chain using the homogeneous operators’ method. This method is based on the use of homogeneous translation or rotation operators and covering the kinematic chain from the base to the characteristic point at its end by a mobile reference system. Based on linear and angular dimensions expressed in matrix by corresponding homogeneous operators we obtain the matrix of the robot characteristic point coordinates in the fixed reference system attached to the robot base. Thus, direct kinematics is solved qualitatively. For a set of numerical values, ​​we obtain a quantitative solution.
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Tultayev, Baurzhan, Gani Balbayev, Algazy Zhauyt, Aidos Sultan, and Aigerim Mussina. "Kinematic Synthesis of Mechanism for System with a Technical Vision." MATEC Web of Conferences 237 (2018): 03009. http://dx.doi.org/10.1051/matecconf/201823703009.

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A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. This paper affects the actual today’s problem of optimal synthesis of spatial link mechanisms. In this regard, the task of developing methods for the synthesis of complex spatial link mechanisms with the desired laws of motion of the input and output elements allowing automatizing the implementation of all design phases with the use of computer is quite relevant. The authors develop machine-oriented method of structural and kinematic synthesis of spatial link mechanisms based on the use of spatial initial kinematic chains (IKC) realizing prescribed motions. A new approach to the design of spatial mechanisms is suggested, according to which the design process is based on the kinematic synthesis of four-link initial kinematic chain (IKC) and associable kinematic chains (AKC).
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Lipson, Hod. "Evolutionary synthesis of kinematic mechanisms." Artificial Intelligence for Engineering Design, Analysis and Manufacturing 22, no. 3 (2008): 195–205. http://dx.doi.org/10.1017/s0890060408000139.

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AbstractThis paper discusses the application of genetic programming to the synthesis of compound two-dimensional kinematic mechanisms, and benchmarks the results against one of the classical kinematic challenges of 19th century mechanical design. Considerations for selecting a representation for mechanism design are presented, and a number of human-competitive inventions are shown.
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Dissertations / Theses on the topic "Kinematic synthesis"

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Kaparthi, Prashanth. "Kinematic synthesis of a well service machine." Morgantown, W. Va. : [West Virginia University Libraries], 2001. http://etd.wvu.edu/templates/showETD.cfm?recnum=2244.

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Thesis (M.S.)--West Virginia University, 2001.<br>Title from document title page. Document formatted into pages; contains viii, 64 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 63-64).
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Qiao, Guirong. "Unification of planar linkage synthesis through kinematic mapping." Thesis, McGill University, 2003. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=19577.

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A general treatment which includes special cases of the five poses planar four-bar synthesis problem is investigated. There are 0, 2, or 4 real solutions to this problem formulated with five simultaneous equations. This method exposes solutions containing RR, PR, or RP dyads. The kinematic mapping is used to represent planar constraint equations in a three-dimensional projective image space because it offers a comprehensive way to solve problems in kinematic synthesis. The motion of a planar rigid body under a RR constraint can be mapped to points on a skew one-sheet hyperboloid with circles as generators which are generated by intersecting the hyperboloid with planes parallel to X3 = 0 in the image space. Similarly, a RP or PR dyad generates points on a unique hyperbolic paraboloid ruled by lines when intersected with planes parallel to X3 = 0. The five-pose four-bar linkage synthesis problem leads to five second-order constraint equations. By solving the constraint equations for RR dyads or four constraint equations for a RP or a PR dyad, four-bar linkage design parameters can be computed. In this thesis, examples which produce two RR dyads, four RR dyads and one RR dyad with one RP dyad will be analyzed. Furthermore, an approximate solution, with kinematic mapping, is given to the planar elliptical trammel synthesis problem.
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Mohammadi, Daniali Hamid Reza. "Contributions to the kinematic synthesis of parallel manipulators." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=28852.

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This thesis is devoted to the kinematic synthesis of parallel manipulators at large, special attention being given to three versions of a novel class of mainpulators, named double-triangular. These are conceived in planar, spherical and spatial double-triangular varieties.<br>The treatment of planar and spherical manipulators needs only planar and spherical trigonometry, a fact that inductively leads to the successful treatment of spatial varieties with methods of spatial trigonometry, wherein the relationships are cast in the form of dual-number algebraic expressions. Using the foregoing tools, the direct kinematics of the three types of double-triangular manipulators is formulated and resolved.<br>Moreover, a general three-group classification, to deal with singularities encountered in parallel manipulators, is proposed. The classification scheme relies on the properties of Jacobian matrices of parallel manipulators. It is shown that all singularities, within the workspaces of the manipulators of interest, are readily identified if their Jacobian matrices are formulated in an invariant form.<br>Finally, the optimal design of the manipulators is studied. These designs minimize the roundoff-error amplification effects due to the numerical inversion of the underlying Jacobian matrices. Such designs are called isotropic. Based on this concept the multi-dimensional isotropic design continua of several manipulators are derived.
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Wei, Wei 1982. "Type synthesis and kinematic analysis of translational parallel manipulators." Thesis, McGill University, 2005. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=82642.

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This thesis treats type synthesis and kinematic analysis of translational parallel manipulators (TPMs) from a group theoretical point of view.<br>For the TPM type synthesis, based on displacement group theory (DGT), TPM leg motion is represented by a series of displacement subgroups. For symmetrical three-legged TPMs, three categories are classified and a total of 90 architectures are proposed. For asymmetrical three-legged TPMs, 13 cases of possible leg combinations are presented and some possible constructions of TPMs are shown. The advantages of DGT in mechanism synthesis are described.<br>For the kinematic analysis of symmetrical TPMs, geometric elements are employed to denote the workspace of different leg links. Solutions of the inverse and direct kinematics of a certain example are obtained. Moreover, the proposed approach is applied to a class of TPMs, and the corresponding geometric representations are listed. The applicability of the proposed approach is discussed as well.<br>This thesis provides a theoretical approach to design TPMs and analyze their kinematics for practical applications.
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Awtar, Shorya 1977. "Synthesis and analysis of parallel Kinematic XY flexure mechanisms." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/17945.

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Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2004.<br>Includes bibliographical references (p. 193-198).<br>This thesis presents a family of XY flexure mechanisms with large ranges of motion, first-order decoupled degrees of freedom, and small parasitic error motions. Synthesis is based on an systematic and symmetric layout of constraints that are realized by means of common flexure building blocks. An analytical formulation incorporating geometric non-linearities is used in deriving the characteristics of these flexure building blocks. Of concern are issues related to qualification and quantification of undesirable motions, mobility, stiffness variation within the range of motion, determination of center of stiffness, and sensitivity to manufacturing and assembly tolerances. Based on the properties of the building blocks, the performances characteristics of the resulting XY flexure mechanisms are discussed and the influence of symmetry in reducing error motions is analytically illustrated. To verify the design theory, a 300mm x 300mm prototype stage was fabricated, assembled and tested at the National Institute of Standards and Technology (NIST). Measurements using laser interferometry, autocollimation and capacitance gauges indicate levels of performance much better than the capabilities of the current state of the art of precision flexure stages. The prototype flexure stage has a 5mm x 5mm range of motion, with cross-axis errors of the order of one part in one thousand, and motion stage yaw errors of the order of a few arc seconds.<br>by Shorya Awtar.<br>Sc.D.
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Demetriou, Christodoulos S. "A PC implemented kinematic synthesis system for planar linkages." Thesis, Virginia Polytechnic Institute and State University, 1987. http://hdl.handle.net/10919/101343.

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The purpose of this thesis is to develop a PC implemented kinematic synthesis system for four-bar and six-bar planar linkages using Turbo Pascal. CYPRUS is an interactive program that calculates and displays graphically the designed four-bar and six-bar linkages. This package can be used for three and four position synthesis of path generation, path generation with input timing, body guidance, and body guidance with input timing linkages. The package can also be used for function generation linkages where the user may enter a set of angle pairs or choose one of the following functions: tangent, cosine, sine, exponential, logarithmic, and natural logarithmic. The above syntheses can be combined to design linkages that produce more complex motion. For each kinematic synthesis case the code calculates a certain number of solutions. Then the designer chooses the most suitable solution for the particular application at hand. After a mechanism is synthesized, it can be animated for a check of the mechanical action. Watching this animation allows the designer to judge criteria such as clearances, forces, velocities and acceleration of the moving links. The software operates on an IBM PC or any other PC compatible. The language used is Turbo Pascal, an extremely effective tool and one of the fastest high level languages in compilation and execution time.<br>M.S.
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Stoenescu, Eleonor D. Marghitu Dan B. "Dynamics and synthesis of kinematic chains with impact and clearance." Auburn, Ala., 2005. http://repo.lib.auburn.edu/EtdRoot/2005/SPRING/Mechanical_Engineering/Dissertation/STOENESCU_ELEONOR_32.pdf.

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Miyahara, Keizo. "A general kinematic synthesis method for discretely actuated robotic manipulators." Available to US Hopkins community, 2003. http://wwwlib.umi.com/dissertations/dlnow/3080727.

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Soltani, Fariborz. "Kinematic Synthesis Of Spatial Mechanisms Using Algebra Of Exponential Rotation Matrices." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12605867/index.pdf.

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The major part of this thesis has been devoted to path and motion generation synthesis of spatial mechanisms. For the first time kinematic synthesis methods have been developed based on the algebra of exponential rotation matrices. Besides modeling spatial pairs such as spheric, cylindric and Hook&#039<br>s joints by combinations of revolute and prismatic joints and applying Denavit-Hartenberg&#039<br>s convention, general loop closure equations have been presented for path and motion generation synthesis of any spatial mechanism with lower kinematic pairs. In comparison to the existing synthesis methods the main advantage of the methods presented in this thesis is that, general loop closure equations have been presented for any kind of spatial mechanism with lower kinematic pairs. Besides these methods enable the designer to benefit the advantages of the algebra of exponential rotation matrices. In order to verify the applicability of the synthesis methods presented in this thesis, the general loop closure equations of RSHR, RCCR and RSSR-SC mechanisms have been determined and then using these equations six numerical examples have been solved. Some tables have been presented based on the determined loop closure equations which reveal useful information about the number of precision points or positions that can be considered for the kinematic synthesis of the above mentioned mechanisms and the number of free parameters. In numerical examples, the mechanisms have been synthesized based on the general loop closure equations and the synthesis algorithms presented in the thesis. Although in some cases semi-analytical solutions have been obtained, in most of the cases, the loop closure equations were solved by computer programs written by Mathcad. The input angle-output angle diagrams drawn at the end of each numerical example illustrate the motion continuity of the mechanisms and that branching has been avoided. Detailed information has been given about the computer programs and the difficulties which may arise while synthesizing spatial mechanisms. In addition to the above mentioned points, a mobility analysis has been done for the RCCR mechanism and some inequalities have been obtained in terms of the link lengths. The swing angle diagram of the RCCR linkage has been drawn too.
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Lou, Zhenjun. "Kinematic representations and numerical methods in precision position synthesis of mechanisms." Thesis, King's College London (University of London), 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.429316.

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Books on the topic "Kinematic synthesis"

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1941-, Ghosh A., and Dittrich Günter, eds. Kinematic analysis and synthesis of mechanisms. CRC Press, 1994.

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Kinematics analysis and synthesis. McGraw-Hill, 1991.

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1954-, Kirćanski M., ed. Kinematics and trajectory synthesis of manipulation robots. Springer-Verlag, 1986.

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Theory of gearing: Kinematics, geometry, and synthesis. Taylor & Francis, 2012.

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Sriwattanathamma, Jen, ed. Robot kinematics: Symbolic automation and numerical synthesis. Ablex Pub. Corp., 1990.

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Vukobratović, Miomir, and Manja Kirćanski. Kinematics and Trajectory Synthesis of Manipulation Robots. Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/978-3-642-82195-0.

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Spatial mechanisms: Analysis and synthesis. CRC Press, 2001.

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Analytical kinematics: Analysis and synthesis of planar mechanisms. Butterworth-Heinemann, 1991.

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Norton, Robert L. Design of machinery: An introduction tothe synthesis and analysis of mechanisms and machines. McGraw-Hill, 1992.

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Norton, Robert L. Design of machinery: An introduction to the synthesis and analysis of mechanismsand machines. McGraw-Hill, 1992.

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Book chapters on the topic "Kinematic synthesis"

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Ghafil, Hazim Nasir, and Károly Jármai. "Kinematic Synthesis." In Optimization for Robot Modelling with MATLAB. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-40410-9_9.

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McCarthy, J. Michael. "Kinematic Synthesis." In 21st Century Kinematics. Springer London, 2013. http://dx.doi.org/10.1007/978-1-4471-4510-3_2.

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Vukobratović, Miomir, and Manja Kirćanski. "Kinematic Equations." In Kinematics and Trajectory Synthesis of Manipulation Robots. Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/978-3-642-82195-0_1.

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Mallik, Asok Kumar, Amitabha Ghosh, and Günter Dittrich. "Dimensional Synthesis." In Kinematic Analysis and Synthesis of Mechanisms. CRC Press, 2021. http://dx.doi.org/10.1201/9780429327278-6.

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Vukobratović, Miomir, and Manja Kirćanski. "Inverse Kinematic Problem." In Kinematics and Trajectory Synthesis of Manipulation Robots. Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/978-3-642-82195-0_3.

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Vukobratović, Miomir, and Manja Kirćanski. "Kinematic Approach to Motion Generation." In Kinematics and Trajectory Synthesis of Manipulation Robots. Springer Berlin Heidelberg, 1986. http://dx.doi.org/10.1007/978-3-642-82195-0_4.

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Ding, Huafeng, Wenjian Yang, and Andrés Kecskeméthy. "Structural Synthesis of Fractionated Kinematic Chains." In Springer Tracts in Mechanical Engineering. Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-1508-6_11.

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Mallik, Asok Kumar, Amitabha Ghosh, and Günter Dittrich. "Mobility and Range of Movement." In Kinematic Analysis and Synthesis of Mechanisms. CRC Press, 2021. http://dx.doi.org/10.1201/9780429327278-3.

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Mallik, Asok Kumar, Amitabha Ghosh, and Günter Dittrich. "Spherical and Spatial Linkages." In Kinematic Analysis and Synthesis of Mechanisms. CRC Press, 2021. http://dx.doi.org/10.1201/9780429327278-8.

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Mallik, Asok Kumar, Amitabha Ghosh, and Günter Dittrich. "Planar Kinematics of Rigid Bodies." In Kinematic Analysis and Synthesis of Mechanisms. CRC Press, 2021. http://dx.doi.org/10.1201/9780429327278-2.

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Conference papers on the topic "Kinematic synthesis"

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James, Paul A., and Bernard Roth. "A Unified Theory for Kinematic Synthesis." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0345.

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Abstract In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely-separated position kinematics. Expanding on previous work, we extend the unified theory to include spatial kinematic synthesis and we present a new numerical method. These new methods serve to unify finite, infinitesimal, and hybrid kinematic synthesis into one theory for kinematic synthesis.
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Kim, Han Sung, and Lung-Wen Tsai. "Kinematic Synthesis of Spatial 3-." In ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASME, 2002. http://dx.doi.org/10.1115/detc2002/mech-34302.

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Vermeer, Kaz, Reinier Kuppens, and Justus Herder. "Kinematic Synthesis Using Reinforcement Learning." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85529.

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The presented research demonstrates the synthesis of two-dimensional kinematic mechanisms using feature-based reinforcement learning. As a running example the classic challenge of designing a straight-line mechanism is adopted: a mechanism capable of tracing a straight line as part of its trajectory. This paper presents a basic framework, consisting of elements such as mechanism representations, kinematic simulations and learning algorithms, as well as some of the resulting mechanisms and a comparison to prior art. Series of successful mechanisms have been synthesized for path generation of a straight line and figure-eight.
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Duraisamy, Karthikeyan, Alba Perez-Gracia, and Marco P. Schoen. "Vision-Based Kinematic Synthesis of Hand Motion." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14870.

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The purpose of this work is to develop a human hand model that will work in conjunction with the myoelectric signals from the arm muscles, for those people who have lost their upper extremity. Though there are many prostheses available on the market with variable cost and functional accuracy, it is hard to find a prosthesis that mimics the complete functionality of the human hand, due to the complex hand motion, the complex dynamics of the myoelectric signals, and the difficulty involved in the acquisition of these signals, which complicates the implementation. In order to overcome some of these problems, the proposed hand model mimics most of the hand movements and it is used together with a kinematic synthesis process to identify the motion of the hand, obtained from visual data. In this paper, the human hand is modeled as a collection of five serial chains. For each movement performed by the joints in the finger/wrist, revolute joints are considered in different configurations, which yield movements similar to those of the human hand. The forward kinematics in matrix form is formulated using Denavit-Hartenberg parameters and expressed using Clifford Algebra exponentials. Kinematic synthesis is used to adjust the dimensions of the proposed model to the hand of the subject, and to identify the angles at each joint for a given hand motion. In the kinematic synthesis process, the forward kinematics equations of the hand are solved for both the angles of the joints and the dimensions of the hand. The synthesis equations obtained from the kinematic synthesis process are solved using a Levenberg-Marquardt nonlinear least-squares algorithm. The experimental setup for the real-time motion capturing consists of three camerasand is to be used in future work to relate the joint motion to the myoelectric signals acquired from the subject's arm.
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"Synthesis of human-bike kinematic structures for direct kinematic analysis." In Engineering Mechanics 2018. Institute of Theoretical and Applied Mechanics of the Czech Academy of Sciences, 2018. http://dx.doi.org/10.21495/91-8-289.

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Bishop-Moser, Joshua, Girish Krishnan, Charles Kim, and Sridhar Kota. "Kinematic Synthesis of Fiber Reinforced Soft Actuators in Parallel Combinations." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71261.

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Complex controlled motions, flexible surfaces, and minimal moving mass all drive the need for soft robots using fiber reinforced elastomer enclosures (FREEs) in a parallel configuration. This paper addresses the challenge of synthesizing a design with desired kinematics, as only small portions of the entire design space have been previously investigated. A systematic characterization of the kinematic freedom, constraint, and actuation directions of all circumferentially and longitudinally repeating fiber topologies is determined. The parallel kinematics is mapped for the combinations of actuators by determining the sets of mobilities necessary in the constituent members for all possible output motions. The kinematics of all possible parallel combinations for pairs and triangular triplets of FREEs are mapped. A graphical user interface (GUI) is presented, which allows a user to input a kinematic specification and generate all feasible FREE sets and their respective kinematics. With the entire design space mapped and easily accessible, a range of possible applications across a span of kinematic requirements becomes readily attainable. A case study is performed to verify the ability of the GUI to determine feasible FREE sets for a pick-and-place manipulator task.
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Su, Hai-Jun, and J. Michael McCarthy. "Kinematic Synthesis of RPS Serial Chains." In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2003. http://dx.doi.org/10.1115/detc2003/dac-48813.

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This paper examine the geometric design of the five degree-of-freedom RPS serial chain. This constrained robot can be designed to reach an arbitrary set of ten spatial positions. It is often convenient to consider tasks with fewer positions, and here we study the cases of seven through ten position synthesis. A generalized eigenvalue elimination technique yields analytical solutions for cases seven and eight. While cases nine and ten are solved numerically using homotopy continuation. An numerical example is provided for an eight position task.
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Xu, Lingmin, Xubiao Zhu, Wei Ye, Qinchuan Li, and Qiaohong Chen. "Kinematic Analysis and Dimensional Synthesis of a New 2R1T Parallel Kinematic Machine." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85278.

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This paper deals with the kinematic analysis and dimensional synthesis of a new 2R1T (R: rotation, T: translation) parallel kinematic machine (PKM). This is a 2PRU-UPR (P, R, U standing for prismatic, revolute and universal joint, respectively) PKM that is actuated by three actuated prismatic joints, two of which are mounted on the fixed base to reduce the movable mass. Firstly, the mobility and inverse kinematics of the 2PRU-UPR PKM are proposed. And then the motion/force transmissibility is evaluated by the local transmission index and good transmission workspace. Moreover, the singular configurations are obtained according to the motion/force transmissibility. Dimensional synthesis is carried out based on the GTW, and the optimized architectural parameters with good GTW are obtained. Finally, a prototype based on the optimized parameters has been developed, which has great potential in machining workpieces with curved surfaces.
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Venkataramanujam, Venkatesh, and Pierre Larochelle. "Approximate Motion Synthesis of Spherical Kinematic Chains." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34372.

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In this paper we present a novel dimensional synthesis technique for approximate motion synthesis of spherical kinematic chains. The methodology uses an analytic representation of the spherical RR dyad’s workspace that is parameterized by its dimensional synthesis variables. A two loop nonlinear optimization technique is then employed to minimize the distance from the dyad’s workspace to a finite number of desired orientations of the workpiece. The result is an approximate motion dimensional synthesis technique that is applicable to spherical open and closed kinematic chains. Here, we specifically address the spherical RR open and 4R closed chains however the methodology is applicable to all spherical kinematic chains. Finally, we present two examples that demonstrate the utility of the synthesis technique.
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Yang, Ting-Li, Fang-Hua Yao, and Ming Zhang. "A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part II — Modular Dynamic Analysis, Modular Structural Synthesis and Modular Kinematic Synthesis." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-6058.

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Abstract This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: Part I-modular structural analysis and modular kinematic analysis; Part II-modular dynamic analysis, modular structural synthesis and modular kinematic synthesis. This paper is the second part.
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