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Inverse kinematics of a spatial mechanismusing multibond graph

Maini Aman Kumar, Vaz Anand

Computer Assisted Methods in Engineering and Science

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2020

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Vol. 27, no. 1

71--85

EN

Various methods are available to compute kinematics and dynamics in the case of spa-tial mechanisms. These methods are cumbersome and laborious for large and multibodyspatial mechanisms. The bond graph technique is a powerful alternative tool for mode-ling. A four-link closed-chain 3R2S (3Revolute 2Spherical) spatial mechanism stands outamong the other four-link closed-chain spatial mechanisms due to its ability to be used ina number of applications. The main aim of this paper is to compute the inverse kinematicsof the mechanism using the bond graph structure of the system. In this paper, modeling ofa four-link closed-chain 3R2S spatial mechanism has been conducted using a multibondgraph approach. Inverse kinematics of the spatial mechanism, under various applications,has been directly obtained from the bond graph modeling. MATLAB coding for simula-tion has been done directly from the multibond graph without explicitly deriving systemequations. The simulation results have been analyzed and discussed using various plots.

2

Model of 5R spatial linkage in the geometry of tori

Bil T., Budniak Z.

International Journal of Applied Mechanics and Engineering

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2014

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Vol. 19, no. 4

823--830

EN

The present study covers the problem of a kinematic analysis of a spatial 5R single DOF linkage. This mechanism was constructed by combining two 4R universal mechanisms presented in tori geometry (Bil, 2012). The problem can be presented as the effect of an intersection of two tori in such a manner that the circles that form these tori do not coincide (Bil, 2010; 2011; 2012; 2012). As a result of this, a 5R model was obtained of a five-bar mechanism. It was demonstrated that there are 16 cases of the intersection of two universal tori with constant linear dimensions and that they differ with the angles of the mutual positions of rotation axes. A particular case of the five-bar mechanism presented herein is the well-known Goldberg mechanism (Goldberg, 1943), which was initially formed out of a particular case combination of two Bennett mechanisms (Bennett, 1903; Baker, 1979).

3

Analysis and optimization of the spatial mechanism

Frantisek O., Szweda J., Poruba Z.

Modelling and Optimization of Physical Systems

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2010

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z. 9

21--28

EN

The paper deals with an analysis and an optimization of the truck shifting mechanisms. The aim of the work is to optimize the trajectory of a shifting lever hand-grip in order to obtain an acceptable ergonomic trajectory. A mathematical surrogate of the shifting mechanism has been constructed and the following use of the optimization algorithms resulted in several modifications of mechanism dimensions.

4

Kinematic Analysis of the Sewing Mechanisms of an Overedge Machine

Przytulski R., Zajączkowski J.

Fibres & Textiles in Eastern Europe

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2006

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Vol. 14, no. 1 (55)

79--82

EN

A computer analysis of the motion of the spatial links of lever mechanisms has been carried out. This analysis has been presented as an example of some selected mechanisms of one version of basic design solutions for the overlock sewing machine, i.e. a needle arm driving mechanism, a gripper mechanism and a transport mechanism. On the basis of the equations of motion based on the mating of the elementary links of these mechanisms, a kinematic analysis of the motion of these elements has been conducted. The calculation results obtained in the form of discrete functions have been replaced by continuous functions, by the application of the Lagrange polynomial. The parameters of the motion of selected elements as determined are derivatives of these functions.