This article presents the kinematic synthesis of Watt II six-bar mechanisms for simultaneously guiding two bodies exactly through pick and place positions and near an arbitrary number of guiding positions. The two bodies to be moved are connected by a revolute joint and the motion generation task is defined by the desired pick and place positions of one body and the relative angle of the second body with respect to the first. The synthesis method uses an algebraic geometry formulation of the exact synthesis of planar RR dyads for rigid-body guidance from classical Burmester theory. The exact synthesis method is extended to yield RR dyads that guide a body exactly through pick and place positions and near an arbitrary number of guiding positions. Next, three RR dyads are synthesized and assembled to yield a Watt II six-bar mechanism. The result is a dimensional synthesis technique for designing Watt II mechanisms to exactly reach two simultaneous positions and approximately reach an arbitrary number of guiding positions. A case study illustrating the application of the synthesis algorithm is included.
Synthesis of Watt II Six-Bars for Simultaneous Pick and Place Tasks with Guiding Positions
Mechan. Machine Science
USCToMM Symposium on Mechanical Systems and Robotics ; 2022 ; Rapid City, SD, USA May 19, 2022 - May 21, 2022
Proceedings of the 2022 USCToMM Symposium on Mechanical Systems and Robotics ; Kapitel : 23 ; 274-289
2022-04-01
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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