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Title: Function synthesis of the planar 5R mechanism using least squares approximation
Authors: Kiper, Gökhan
Bağdadioğlu, Barış
Bilgincan, Tunç
Keywords: Function generation
Planar 5R mechanism
Least squares approximation
Equal spacing
Issue Date: 20-May-2014
Publisher: Springer
Source: Kiper, G., Bağdadioğlu, B., & Bilgincan, T. (2014). Function synthesis of the planar 5R mechanism using least squares approximation. In: Lenarcic, J., & Khatib, O. (Eds.). Advances in Robot Kinematics, (pp. 69-76). Switzerland: Springer. doi:10.1007/978-3-319-06698-1_8
Abstract: In this paper, the problem of function generation synthesis of planar 5R mechanism is studied using the least squares approximation method with equal spacing of the design points. The study represents a case study for analytical function generation of multi-degrees-of-freedom systems. The planar 5R mechanism is designed with a fixed input joint and a moving input joint adjacent to the first input, whereas the remaining fixed joint is the output joint. The input/output relationship of the mechanism is expreseed as an objective function in polynomial form with four unknown construction parameters. The objective function involves nonlinearities, however the problem is linearized using Lagrange variables. The linear system is solved and finally the construction parameters of the mechanism are determined. A numerical example is presented as a case study.
ISBN: 978-3-319-06697-4
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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