The input link of a linkage mechanism is normally assumed to operate at a constant speed and the motion characteristics of the output link are determined once the mechanism is designed. This paper proposes a flexible method by varying speed trajectories of the input link actively to improve output motion characteristics of linkage mechanisms. Criteria are presented for selecting suitable input speed trajectories to meet various design requirements and constraints. Two approaches are developed, one based on inverse kinematics and one using optimal control theory. Finally, two examples are given to demonstrate the design procedure.
|Number of pages||14|
|Journal||Transactions of the Canadian Society for Mechanical Engineering|
|Publication status||Published - 2002|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering