Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains Alba Perez, College of Engineering, Idaho State University Hai Jun Su, J. Michael McCarthy, Robotics and Automation Laboratory, University of California, Irvine ASME 28th Biennial Mechanisms and Robotics Conference Salt Lake City, Utah, September 28 to October 2, 2004 2004 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES and COMPUTERS & INFORMATION IN ENGINEERING CONFERENCE
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Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains
Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains. ASME 28th Biennial Mechanisms and Robotics Conference Salt Lake City, Utah, September 28 to October 2, 2004 2004 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES and COMPUTERS & INFORMATION IN ENGINEERING CONFERENCE. - PowerPoint PPT Presentation
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Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains
Alba Perez, College of Engineering, Idaho State University
Hai Jun Su, J. Michael McCarthy, Robotics and Automation Laboratory, University of
California, Irvine
ASME 28th Biennial Mechanisms and Robotics ConferenceSalt Lake City, Utah, September 28 to October 2, 2004
2004 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES
and COMPUTERS & INFORMATION IN ENGINEERING CONFERENCE
• Eight routines that solve specific topologies.• Faster than numerical solver.• Based on algebraic solutions, return all
solutions for a given chain.• New synthesis routines developed by external
users can be integrated into the program.
Specialized Synthesis Routines
Robots with spherical wrists (Su 2004):
• Designed for reachable surfaces and solved using resultant elimination.
• Implemented chains: CS-3, CS-6, RPS-8, TS-3.
Roots Time
1 <<1s
3 <<1s
4 <<1s
4 <<1s
7 <<1s
8 <<1s
11 <<1s
15 <<1s
26 0.04s
186 6m
216 16m
588 14m
804 1h02m
Specialized Synthesis Routines
Dual quaternion design equations (Perez 2003):
• For some chains, it is possible to find algebraic solutions by eliminating the joint variables.
• Implemented chains: RP-2, PR-2, RR-3, RPC-5.
Other Features
Selection matrix Bezier interpolation with double quaternions
Trajectory approximation Motion simulation
Conclusions
• Synthetica is a Java-based software for the synthesis, visualization, analysis and simulation of spatial linkages.
• The new release, Synthetica 2.0, was presented.
• Synthetica 2.0 incorporates a general numerical synthesizer for the design of 120 serial chains.
• It also incorporates 8 specialized synthesis routines that return all the solutions for a given task and topology.
• Future directions include: Optimization of the numerical solver for increased speed. Generation of new specialized synthesis routines. Integration with commercially available CAD software.
• Synthetica 2.0 for PC or Mac can be downloaded from http://synthetica.eng.uci.edu