Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection
Journal of Mechanical Design
Several established methods determine if an RR dyad will pass through a set of finitely separated positions in order. The new method presented herein utilizes only the displacement poles in the fixed frame to assess whether a selected fixed pivot location will yield an ordered dyad solution. A line passing through the selected fixed pivot is rotated one-half revolution about the fixed pivot, in a manner similar to a propeller with infinitely long blades, to sweep the entire plane. Order is established by tracking the sequence of displacement poles intersected. With four or five positions, fixed pivot locations corresponding to dyads having any specified order are readily found.
Five-position problems can be directly evaluated to determine if any ordered solutions exist. Additionally, degenerate four-position cases for which the set of fixed pivots corresponding to ordered dyads that collapse to a single point on the center point curve can be identified.
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Copyright © 2008, American Society of Mechanical Engineers
American Society of Mechanical Engineers
National Science Foundation
Myszka, David H.; Murray, Andrew P.; and Schmiedeler, James P., "Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection" (2008). Mechanical and Aerospace Engineering Faculty Publications. 183.