Theories of Kinematic Analysis and Synthesis of Spatial Mechanisms Containing Lower and Higher Pairs.

Abstract

Abstract : Accomplishments to date include vector-theories for the analysis of spatial function, path, and motion generators containing higher-pair joints. Also, completed are design theories which assure that a synthesized mechanism is free from branching effects. Additional theories have been developed for synthesizing several types of single-input spatial motion generator mechanism with complete input crank rotation, optimal transmission characteristics, and correct order of output positions. Methods have also been developed for efficiently formulating and solving systems of non-linear equations which commonly arise in the synthesis of spatial mechanisms. The theories developed under the sponsorship of this grant have expanded the utility of spatial mechanisms. It has led to simplified analysis and design theories for spatial mechanisms containing higher pairs and it has produced a new 'wholeistic' approach to spatial. (Author)