August 4, 2008 DETC2008-49040 (Wanner et al.) 1 Moving Pivot Specification for Three Precision Position Planar Linkage Synthesis John T. Wanner Northwestern University Benjamin J. Fisher XeteX Inc. Thomas R. Chase University of Minnesota Andrew E. Sherman Goodrich Corp.
Moving Pivot Specification for Three Precision Position Planar Linkage Synthesis
Jan 13, 2016
Moving Pivot Specification for Three Precision Position Planar Linkage Synthesis. John T. Wanner Northwestern University. Andrew E. Sherman Goodrich Corp. Benjamin J. Fisher XeteX Inc. Thomas R. Chase University of Minnesota. Motivation. Textbook. Textbook. analytical solution:. - PowerPoint PPT Presentation
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August 4, 2008 DETC2008-49040 (Wanner et al.) 1
Moving Pivot Specification for Three Precision Position Planar Linkage Synthesis
John T. Wanner
Northwestern University
Benjamin J. Fisher
XeteX Inc.
Thomas R. Chase
University of Minnesota
Andrew E. Sherman
Goodrich Corp.
August 4, 2008 DETC2008-49040 (Wanner et al.) 2
Motivation
graphical solution: analytical solution:Textbook Textbook
August 4, 2008 DETC2008-49040 (Wanner et al.) 3
Overview• Relation to existing solutions• Develop synthesis equations for dyads• Extension to triads & example:
Stephenson I vehicle suspension linkage
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Closely Related Solutions
• Graphical equivalent (textbooks): Hall (1961), Erdman et al. (2001), Norton (2004)– Complex # solution:
programmable, speed, accuracy
• Algebraic equivalent: Bawab and Thiruvenkatachari (1995)– Complex # solution: consistency with other complex #
solutions; direct solution for link rotations; expanded beyond 4-bars
August 4, 2008 DETC2008-49040 (Wanner et al.) 5
Loosely Related Solutions
• Ground pivot specification: Loerch et al. (1975), Suh & Radcliffe (1978)
• Hybrid complex # solution (specify angle of coupler at position 1 & angles of vectors locating ground pivots): Soni (1974)
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Basic Loop Equation
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Knowns vs. Unknowns
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Closing the Loop
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Locating the Ground Pivot
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Lower Link Angles
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Summary: 3PP Motion Gen, Moving Pivot Specification
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Application: Solar Vehicle Suspension Design
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Synthesis Strategy
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1. Set Wheel Travel
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2. Set Damper Motion
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JMTAD Vol 109 No 4 (1987)
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3. Synthesize Triad (Part 1)
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3. Synthesize Triad (Part 2)
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Suspension Final Solution
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Summary
• Solution of moving pivot specification for dyads at 3 prec pos using complex #’s
• Easily programmed• Speed & accuracy advantages over well known
graphical solutions• Easily extended to triads (for 6-bars & beyond)
using relative precision positions• Example: Solar vehicle Stephenson I 6-bar
suspension
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