Presenter(s)
Saleh M. Almestiri
Files
Download Project (1.8 MB)
Description
The purpose of this research is to understand the motion characteristics of a linkage as a design parameter is altered. Understanding the motion characteristics of a mechanism is an important step in designing machinery. Kinematic analysis theory utilizing isotropic coordinates is implemented to construct mathematical models of planar linkages composed of rigid bodies, revolute joints, and prismatic joints. A graphical representation has been developed to represent the gross motion characteristics of a linkage called a singularity trace. The singularity trace provides a visual snapshot of the effects of altering a design parameter of the linkage by including the number of assembly circuits and the location of locked configurations. Bertini, software for solving large algebraic systems of equations, is used to determine the critical points of the singularity trace. MATLAB is then used to integrate from the Bertini solutions to plot the complete singularity trace.
Publication Date
4-9-2015
Project Designation
Graduate Research
Primary Advisor
Andrew P. Murray, David H. Myszka
Primary Advisor's Department
Mechanical and Aerospace Engineering
Keywords
Stander Symposium project
Disciplines
Arts and Humanities | Business | Education | Engineering | Life Sciences | Medicine and Health Sciences | Physical Sciences and Mathematics | Social and Behavioral Sciences
Recommended Citation
"Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints" (2015). Stander Symposium Projects. 672.
https://ecommons.udayton.edu/stander_posters/672
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Arts and Humanities Commons, Business Commons, Education Commons, Engineering Commons, Life Sciences Commons, Medicine and Health Sciences Commons, Physical Sciences and Mathematics Commons, Social and Behavioral Sciences Commons
