MEC 567

Kinematic Analysis and Synthesis of Mechanisms

Spring 2016
 Kinematic Analysis and Synthesis of
Mechanisms
(MEC 567)- Spring 2016
COURSE OUTLINE

Topic Text
1. Introduction (1 week) Chap. 1 (Ref. 1-3)
(history of mechanisms and robotic manipulators, analysis
and synthesis methods and terminology, research areas)
2 Kinematics Analysis of Linkage Mechanisms. (1 1/2 weeks) Chap. 3-4 (Ref. 3)
(d-o-f, review of displacement, velocity and acceleration
analysis, branching, force/motion transmission).
3 Kinematics of Robot Manipulators. (Ref. 2, Chap. 2-3 and Ref. 3)
(direct and inverse kinematics, open-loop and parallel
configurations, d-o-f, redundancy, number of configurations,
service/approach angle, path and trajectory synthesis) - (2 weeks)
4 Kinematics Issues in Robot Manipulators. Ref. 3
(workspace analysis and synthesis with and without joint
motion constraints, motion and force transmissibility, dexterity
and related workspaces) - (1 1/2 weeks)
1st Midterm
5. Position Analysis of Serial and Parallel Manipulators. (1 week) (Refs. 2 and 3)
6. Kinematics Analysis of Spatial Linkage Mechanisms. (1/2 week) (Ref. 3)
 Kinematic Analysis of Plane Linkage
Mechanism
• The vector loop equations (independent loop equations for multi-loop
mechanisms);

• Each loop equation yields two scalar equations;

• For given input joint(s) position(s), use the scalar equations to solve for
unknown position(s) – i.e., mechanism output(s).

May use vector or its complex number presentation

Kinematic Analysis of Plane Linkage
Mechanism
 Euler’s Equation

eix = cos x + i sinx

Why do we used Euler’s equation in planar mechanism kinematics?

 Vector Loop Closure Equation

• The vector loop equation for a four-bar linkage

R2 + R3 – R4 - R1 = 0

a(cosθ2+isinθ2) + b(cosθ3+isinθ3)-c(cosθ4+isinθ4)-d(cosθ1+isinθ1)=0
Real part (x-component): acosθ2+bcosθ3-ccosθ4-dcosθ1=0
Imaginary part(y-component): asinθ2+bsinθ3-csinθ4-dsinθ1=0
Closed-Form Input-Output Relationship
Loop Closure Equation: Solutions
Example

P
Example
Example

P
(Force) Transmission Angle in Linkage
Mechanisms

• The angle between the output link and the coupler, indicating
the effective force that generates output torque.
• Also indicates the ratio between input and output torque
(torque transmissibility).
• Similarly, motion transmissibility may be determined, i.e., the
ratio between input and output motion.
Motion and Force Transmission in
Open-Loop Mechanisms

ΔX(θ1, θ2)
Y

θ2, τ2 ΔY(θ1, θ2)

θ1, τ1
X
 Other Kinematic Characteristics and
Terminology
• Configurations, branches, number of solutions
for 1
– Closed-loop mechanisms
2
– Open-loop mechanisms
• Input-output relationships for linkage
mechanisms
• Motion and force transmissibility 1

• Motion limitations and changeover in closed- 2

loop mechanisms
• Changeover, configurations and branches in
open-loop manipulators
 Kinematics of Multi-D.O.F Mechanisms

• Classifications – similar to other linkage mechanisms, and:

– Degree-of-freedom (# of independent inputs)

– Serial or parallel (grounded inputs)
– Redundancy and degree of redundancy
– Path and trajectory
– Approach angle / service angle (dexterity)
– Etc.
 Kinematics of Multi-D.O.F Mechanisms

• Kinematic Synthesis:
– Type synthesis
• Degree-of-freedom (degree of redundancy)
• Serial or parallel or combination
• Type of joints
– Dimensional Synthesis:
• Lengths, skew angles, offsets
• Workspace
• Joint motion constraints
• Path and trajectory related
• Motion and force/torque transmissibility
• Task related issues (p.t.p or path/trajectory)
• Dynamic and control issues
 Kinematics of Multi-D.O.F Mechanisms

• Kinematic analysis:
– Direct kinematics: Given all input joint positions, what is the output
position and/ orientation (usually the so-called end-effector)
• One-to-one relationship(!) – readily determined
– Inverse kinematics: Given the output position and/or orientation,
what is/are the input joint positions
• One-to-many relationship makes computations complex due to:
– Number of solutions (configurations, branches)
– Nonlinear relationships with rotary joints (then why use rotary
joints?)
– Computational continuity