Synthesis and analysis of a Chebyshev's straight line four-bar linkage for generating a minimum jerk velocity profile

Evagoras G. Xydas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5A
ISBN (Electronic)9780791846360
DOIs
Publication statusPublished - 2014
Externally publishedYes
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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