Synthesis of Planar Linkage Mechanisms for Multiple Kinematic Tasks

MARTÍN A. PUCHETA; ALBERTO CARDONA

Varsovia, Polonia

Conferencia; Multibody Dynamics 2009, ECCOMAS Thematic Conference; 2009

European Community on Computational Methods in Applied Sciences (ECCOMAS) y Warsaw University of Technology

This paper presents a systematic method for synthesis of planar linkage mechanisms to satisfy multiple kinematic tasks. The type and dimensional synthesis procedures use a representation of the mechanism based on the Finite Elements Method and Graph Theory, managing to preserve and unify both representations to integrate the synthesis into its subsequent stages of optimization and detailed design. The type synthesis method consists of a subgraph search of the graph representing the initial parts inside the graphs of mechanisms taken from a previously enumerated atlas. An initial sizing procedure based on the Precision Position Method is used for the preliminary evaluation of each alternative. Using this type and dimensional synthesis method, multiple tasks can be solved either successively or simultaneously. In this paper, the method is applied for solving multiple kinematic tasks and is illustrated by means of a flap-tab mechanism passing through three positions. The kinematic error –between the precision positions– of the selected solutions can be minimized using software for optimization of mechanisms.