This work presents methods used to obtain geometric models of spatial mechanisms which can be realized in hardware. Each model is created automatically from the kinematic description of a mechanism. The models are tested for interference between joints and links. Models with interfering links or joints are reshaped automatically into an interference-free configuration.
An investigation of the relative efficiency of different interference detection techniques is discussed. A method for determining interferences based on vector loop equations was developed for this work. Other approaches for interference detection include parametric space and a method using parallel coordinates. 2000 line segments were randomly generated to test the three methods. No significant difference between the three techniques was found, but a coarse detection scheme was developed based on observations of intersection conditions in parallel coordinates. The coarse detection technique reduced interference detection times by 48%.
The concept of joint positioning freedoms is presented formally for the first time. Using a unidirectional avoidance strategy along a straight line, these repositioning freedoms are exploited in a manner which guarantees the elimination of interferences for revolute, prismatic, and cylindric joints.
A unique method for optimal orientation of spheric joint ball-cup pairs is described. Points from an inverse image of the attachment piece for the ball are mapped onto a unit sphere in the reference frame of the cup. The axis of a bounding cone is then used to align the attachment piece for the cup. The method minimizes the chances for collisions between the cup and the ball attachment piece.
Elements which attach the joints are modeled as three segments. This has proven to be an optimal representation. Interferences with these elements are eliminated using the elliptical projection of circular paths onto a plane which is perpendicular to the axis of symmetry for an intruding object.
Several examples are given illustrating the successful generation of interference-free spatial mechanism models. The mechanisms include an RSSR, an RPCS, an RCCC, and an RRRRRRR. / Ph. D.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/39246 |
| Date | 25 August 2008 |
| Creators | Keil, Mitchel J. |
| Contributors | Mechanical Engineering, Myklebust, Arvid, Leonard, Robert G., Lytton, Jack L., Reinholtz, Charles F., West, Robert L. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Dissertation, Text |
| Format | xii, 198 leaves, BTD, application/pdf, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
| Relation | OCLC# 23460027, LD5655.V856_1990.K456.pdf |
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