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https://hdl.handle.net/11147/4211
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 |
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. | URI: | http://hdl.handle.net/11147/4211 http://dx.doi.org/10.1007/978-3-319-06698-1_8 |
ISBN: | 978-3-319-06697-4 978-3-319-06698-1 |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Files in This Item:
File | Description | Size | Format | |
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Function Synthesis of the Planar 5R.pdf | BookPart | 276.09 kB | Adobe PDF | View/Open |
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