A Study of Adjustable Mechanisms with Multiple-Degree of Freedom : Number and Dimensional Syntheses of Mechanisms

Abstract

Adjustable mechanisms with multiple-degree of freedom, whose adjustable inputs are part of redundant inputs which do not play a role in describing their output motion, can optimize characteristics other than the output motion, such as the size and shape of mechanism, operating time, and energy consumption of the actuator. In this paper, the above adjustable mechanisms are studied from the standpoints of both hardware and software, and the characteristics for application to path generators are clarified. Number and dimensional syntheses are carried out in section 1, with consideration given to such kinematic and kinetic characteristics as working space, input torques and joint forces under unit load.