论文信息 - SYNTHETICA 2.0: SOFTWARE FOR THE SYNTHESIS OF CONSTRAINED SERIAL CHAINS

SYNTHETICA 2.0: SOFTWARE FOR THE SYNTHESIS OF CONSTRAINED SERIAL CHAINS

A spatial linkage is defined by a workpiece supported by one or more serial chains. We say that the spatial linkage can perform a given task when this task belongs to its workspace. A task can be specified as a discrete set of positions or as a set of curves or surfaces. Spatial serial chains can be synthesized to perform specified tasks, and combined to form more complicated linkages. Recently we developed Synthetica 1.0, a Java-based architecture for the computer-aided-design of spatial linkages that contains task definition and visualization, and linkage visualization, analysis and synthesis modules. In this paper, we present the new version, Synthetica 2.0. Among other additions, the new version includes task interpolation, a selection matrix, a generic synthesizer and several specialized synthesis procedures for constrained spatial linkages.Copyright © 2004 by ASME

[1] Hai-Jun Su,et al. Geometric Design of Cylindric PRS Serial Chains , 2004 .

[2] Ken Shoemake,et al. Animating rotation with quaternion curves , 1985, SIGGRAPH.

[3] Bahram Ravani,et al. Geometric Construction of Bézier Motions , 1994 .

[4] Judy M. Vance,et al. Spatial mechanism design in virtual reality with networking , 2002 .

[5] Constantinos Mavroidis,et al. A New Polynomial Solution to the Geometric Design Problem of Spatial R-R Robot Manipulators Using the Denavit and Hartenberg Parameters , 2001 .

[6] McCarthy,et al. Geometric Design of Linkages , 2000 .

[7] J. Michael McCarthy,et al. The Structure of an Extensible Java Applet for Spatial Linkage Synthesis , 2002, J. Comput. Inf. Sci. Eng..

[8] Hai-Jun Su,et al. An Extensible Java Applet for Spatial Linkage Synthesis , 2002 .

[9] C. Innocenti. Polynomial Solution of the Spatial Burmester Problem , 1995 .

[10] J. Michael McCarthy,et al. Dual quaternion synthesis of constrained robotic systems , 2003 .

[11] C. H. Suh,et al. Kinematics and mechanisms design , 1978 .

[12] Qiaode Jeffrey Ge,et al. Motion Interpolation With G2 Composite Bézier Motions , 1995 .