Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5369
Title: Least square approximate motion generation synthesis of spherical linkages by using Chebyshev and equal spacing
Authors: Alizade, Rasim
Can, Fatih Cemal
Kilit, Özgür
Keywords: Approximate motion synthesis
Rigid body guidance
Spherical dyad
Spherical four-bar mechanism
Spheres
Issue Date: 2013
Publisher: Elsevier Ltd.
Source: Alizade, R., Can, F. C., and Kilit, Ö. (2013). Least square approximate motion generation synthesis of spherical linkages by using Chebyshev and equal spacing. Mechanism and Machine Theory, 61, 123-135. doi:10.1016/j.mechmachtheory.2012.10.009
Abstract: In this paper, approximate motion synthesis of spherical linkages is presented. Rigid body guidance of a spherical four-bar mechanism is performed by a spherical RR open chain. In the first step, position of a point on rigid body and orientation of a rigid body on a unit sphere are described. Synthesizing function of spherical dyad is derived by means of using unit vectors that describe location of two revolute joints and tip point. Being based on the theory of function approximation and besides the linearization of nonlinear synthesis equations by using superposition method, the design procedure for real solutions of fourth order polynomial equation is developed. In the second step, approximate motion generation synthesis of spherical dyad is presented by using least-square approximation. Chebyshev spacing and equal spacing are used in the determination of poses. In the final step, two numerical examples are given to show how error graph is varied in terms of selected poses. The spherical motion generation synthesis of spherical four-bar mechanism is obtained by the combination of the two real solutions of the synthesis of two spherical dyads. © 2012 Elsevier Ltd.
URI: http://doi.org/10.1016/j.mechmachtheory.2012.10.009
http://hdl.handle.net/11147/5369
ISSN: 0094-114X
0374-1052
0094-114X
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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