Generating the Isocurve Representation for Configuration Space of Mechanisms

Weirui Kang, Jiani Zeng, Qinghua Liu and Zhengdong Huang

Mathematical Problems in Engineering, 2018, vol. 2018, 1-16

Abstract:

This paper proposes an approach for generating a set of isocurves as a representation for configuration space (CS) of a mechanism. An isocurve here is a curve in CS with some parameters fixed. Compared with conventional methods like box approximations, sampling points, and boundary tessellations, the isocurve-based representation has some advantages in space parameterization and data management. This approach directly formulates the joint loop equations in the form of kinematic matrices, which does not need any extra conversions and solves the equations with an isocurve-tracing method applying ODE solvers. Since the isocurves are connected in certain orders with the guide isocurves in a lower-dimensional space, tracing all the isocurves only needs one initial solution point for an isolated solution component. In addition, the proposed approach includes an interference-handling step, which trims off the collision portions of the isocurves by checking their feasibility according to the previously defined half-space constraints, and a measure for identifying the forward direction at singular points where the first-order derivatives vanish. The approach is implemented through programming and the results for a few examples show its effectiveness.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2018/3085930.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2018/3085930.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:3085930

DOI: 10.1155/2018/3085930

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().