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me 5243 - 10.1 - analytical synthesis: multi-loop mechanisms

Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of the proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

The paper presents generalized analytical methods for designing adjustable mechanisms based on synthesis of adjustable dyads and triads. The synthesis methods presented here are extensions of the well-known Burmester precision point theory. The adjustable dyad (and traid) synthesis method enables one to design mechanisms for multiple sets of precision points (multiple tasks). Two or more adjustable dyads (or triads) assembled together to form four-bar or geared five bar mechanisms that meet the requirements of multiple tasks. The method generates all adjustable -dyad and -triad solutions for given sets of precision points. Synthesis formulations and the solution spaces are described in detail. Design examples illustrating the synthesis methods are also presented.

T1 - Applications of kinematic/kinetic performance tools in synthesis of multi-DOF mechanisms

Kinematic Analysis and Synthesis of Mechanisms - CRC …

T1 - Analytical synthesis of adjustable dyads and triads for designing adjustable mechanisms

AB - Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of the proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

N2 - The paper presents generalized analytical methods for designing adjustable mechanisms based on synthesis of adjustable dyads and triads. The synthesis methods presented here are extensions of the well-known Burmester precision point theory. The adjustable dyad (and traid) synthesis method enables one to design mechanisms for multiple sets of precision points (multiple tasks). Two or more adjustable dyads (or triads) assembled together to form four-bar or geared five bar mechanisms that meet the requirements of multiple tasks. The method generates all adjustable -dyad and -triad solutions for given sets of precision points. Synthesis formulations and the solution spaces are described in detail. Design examples illustrating the synthesis methods are also presented.

Kinematic Analysis and Synthesis of Mechanisms ..

N2 - Analytical and graphical performance synthesis tools for multi-DOF mechanisms are developed in the companion of this two-part paper [1]. Various performance indices derived from the Jacobian matrix for analyzing performance characteristics of multi-DOF mechanisms were proposed. These performance indices are the local kinematic coupling index (inner product of the Jacobian column vectors), the local directional mobility index (ratio of the Jacobian's eigenvalues), and the local efficiency index (product of the Jacobian's eigenvalues). In this paper, effort is placed on the applicability of the proposed analytical and graphical synthesis tools used to aid the design of multi-DOF mechanisms. Two examples representing open and closed chain mechanisms will be used to illustrate the effectiveness and efficiency of the proposed method. First, a two-link planar robotic manipulator is used to apply the proposed method. Following that, a two DOF parallel drive road simulator illustrates applicability of the suggested tools. Through these examples, geometric parameters and joint range limits of the mechanism are optimized through the evaluation of performance indices, eigen-ellipse and intersection angle between trajectory contours.

Analytical Synthesis and Analysis of Mechanisms Using Matlab and Simulink will be available on

CMPS brings together scientists in biochemistry, molecular biophysics, structural biology, physical and theoretical chemistry. We uncover molecular principles and mechanisms while exploring structure, dynamics and function of key proteins in a highly integrated approach. Development of new powerful experimental and theoretical tools plays a key role.

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Synthesis of Mechanisms | Department of …


and Synthesis of Flexure Mechanisms.

, , and other defense mechanisms have been isolated and studied from a variety of natural sources: , , , , komodo dragons, , plants, microbes, and more. Oftentimes, they are , but that is not always the case. This week we look at a new peptide, urumin, from the skin secretions of a South Indian frog, Hydrophylax bahuvistara. Researchers, led by David J. Holthausen out of Emory University, have been looking at host defense peptides (HDPs), which are natural defense mechanisms mounted by many species, to see if they can find and identify compounds with novel virucidal properties. HDPs are generally less prone to antibiotic resistance than conventional treatments. They discovered that Urumin, a 27 amino acid linear peptide (H-Ile-Pro-Leu-Arg-Gly-Ala-Phe-Ile-Asn-Gly-Arg-Trp-Asp-Ser-Gln-Cys-His-Arg-Phe-Ser-Asn-Gly-Ala-Ile-Ala-Cys-Ala-OH), has been found to be virucidal for H1 hemagglutinin-bearing human influenza A viruses. It was found to target a cell surface protein of the virus, causing viral disruption. While the mechanism still needs to be studied, it provides hope in the hunt for new .1

Kinematics and Dynamics : Dimensional Synthesis of Mechanisms

This chapter describes several methods for designing a planar 4-bar linkage and crank-slider mechanism based on mechanism having certain requirements, such as function generation. This will be done using the Freudenstein's equation and Chebyshev spacing where appropriate. The chapter presents the optimal spacing for precision points and then describes function generation synthesis. Chebyshev determined the best precision points to use when trying to curve fit a function using only a selected number of points. Chebyshev's polynomial method minimizes error at precision points and at both ends of the range and it is often used as a “best” first guess in design of linkages. After the design is determined, slight modifications to these precision points can be done to optimize the design thus improving the mechanism's accuracy. We need to realize that Chebyshev's spacing may not produce an optimum design, but it will be a good starting point for the design.

Dimensional Synthesis of Mechanisms

The deep understanding of the relation between electronic structure and reactivity as well as mechanisms and stability enable chemists to design more and more complex compounds and simultaneously re-enact the synthesis logically.

enabling dimensional synthesis of different types of mechanisms.

AB - The paper presents generalized analytical methods for designing adjustable mechanisms based on synthesis of adjustable dyads and triads. The synthesis methods presented here are extensions of the well-known Burmester precision point theory. The adjustable dyad (and traid) synthesis method enables one to design mechanisms for multiple sets of precision points (multiple tasks). Two or more adjustable dyads (or triads) assembled together to form four-bar or geared five bar mechanisms that meet the requirements of multiple tasks. The method generates all adjustable -dyad and -triad solutions for given sets of precision points. Synthesis formulations and the solution spaces are described in detail. Design examples illustrating the synthesis methods are also presented.

Dimensional Synthesis of Mechanisms - NPTEL

Current interests include the computational design of enzymes to catalyze unnatural reactions, the quantitative modeling of stereospecific reactions used in synthesis, mechanisms and selectivities of organometallic reactions, studies of mechanisms and dynamics of cycloaddition reactions.

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