Abstract
The interaction between human and passive, constraintbased path generating mechanisms has been scarcely studied. When it comes to rehabilitation robots, output trajectories and/or forces are achieved mainly as a result of actuation on all joints, since they form an open kinematic chain. On the other end, there exists a wide range of mechanisms that can trace complex trajectories primarily due to mechanical constraints in their topology and structure. Probably the simplest example is the four bar linkage, a widely used 1-DOF mechanism. It consists of a driving link, a driven link, and a coupler which connects the two. As the input link rotates, each point on the coupler link traces a unique trajectory in space, called a coupler curve. Ideally, the linkage dimensions can be chosen so that a near-natural hand trajectory is generated for a specific task. As a first step, in this work a straight line generating four-bar mechanism, namely the Chebyshev's linkage is considered for generating a natural bell-shaped velocity profile, as prescribed by the Minimum-Jerk-Model. Initially the mechanism is synthesized for producing a straight line trajectory of a desired length. Kinematic and kinetostatic analysis is performed in order to determine the required input torque necessary for achieving the desired spatio-temporal profile. The main objective is to determine whether this input torque can approximated by a series of linear torsional springs that can be installed on the pivoted side of the input link.
| Original language | English |
|---|---|
| Title of host publication | 38th Mechanisms and Robotics Conference |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Volume | 5A |
| ISBN (Electronic) | 9780791846360 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
| Event | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States Duration: Aug 17 2014 → Aug 20 2014 |
Other
| Other | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 |
|---|---|
| Country | United States |
| City | Buffalo |
| Period | 8/17/14 → 8/20/14 |
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ASJC Scopus subject areas
- Modelling and Simulation
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design
Cite this
Synthesis and analysis of a Chebyshev's straight line four-bar linkage for generating a minimum jerk velocity profile. / Xydas, Evagoras G.
38th Mechanisms and Robotics Conference. Vol. 5A American Society of Mechanical Engineers (ASME), 2014.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - Synthesis and analysis of a Chebyshev's straight line four-bar linkage for generating a minimum jerk velocity profile
AU - Xydas, Evagoras G.
PY - 2014
Y1 - 2014
N2 - The interaction between human and passive, constraintbased path generating mechanisms has been scarcely studied. When it comes to rehabilitation robots, output trajectories and/or forces are achieved mainly as a result of actuation on all joints, since they form an open kinematic chain. On the other end, there exists a wide range of mechanisms that can trace complex trajectories primarily due to mechanical constraints in their topology and structure. Probably the simplest example is the four bar linkage, a widely used 1-DOF mechanism. It consists of a driving link, a driven link, and a coupler which connects the two. As the input link rotates, each point on the coupler link traces a unique trajectory in space, called a coupler curve. Ideally, the linkage dimensions can be chosen so that a near-natural hand trajectory is generated for a specific task. As a first step, in this work a straight line generating four-bar mechanism, namely the Chebyshev's linkage is considered for generating a natural bell-shaped velocity profile, as prescribed by the Minimum-Jerk-Model. Initially the mechanism is synthesized for producing a straight line trajectory of a desired length. Kinematic and kinetostatic analysis is performed in order to determine the required input torque necessary for achieving the desired spatio-temporal profile. The main objective is to determine whether this input torque can approximated by a series of linear torsional springs that can be installed on the pivoted side of the input link.
AB - The interaction between human and passive, constraintbased path generating mechanisms has been scarcely studied. When it comes to rehabilitation robots, output trajectories and/or forces are achieved mainly as a result of actuation on all joints, since they form an open kinematic chain. On the other end, there exists a wide range of mechanisms that can trace complex trajectories primarily due to mechanical constraints in their topology and structure. Probably the simplest example is the four bar linkage, a widely used 1-DOF mechanism. It consists of a driving link, a driven link, and a coupler which connects the two. As the input link rotates, each point on the coupler link traces a unique trajectory in space, called a coupler curve. Ideally, the linkage dimensions can be chosen so that a near-natural hand trajectory is generated for a specific task. As a first step, in this work a straight line generating four-bar mechanism, namely the Chebyshev's linkage is considered for generating a natural bell-shaped velocity profile, as prescribed by the Minimum-Jerk-Model. Initially the mechanism is synthesized for producing a straight line trajectory of a desired length. Kinematic and kinetostatic analysis is performed in order to determine the required input torque necessary for achieving the desired spatio-temporal profile. The main objective is to determine whether this input torque can approximated by a series of linear torsional springs that can be installed on the pivoted side of the input link.
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U2 - 10.1115/DETC2014-35510
DO - 10.1115/DETC2014-35510
M3 - Conference contribution
VL - 5A
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
ER -