Abstract
This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.
| Original language | English |
|---|---|
| Pages (from-to) | 94-113 |
| Number of pages | 20 |
| Journal | Mechanism and Machine Theory |
| Volume | 72 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
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Keywords
- Graph theory
- Kinematic synthesis
- Tree articulated systems
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Computer Science Applications
- Bioengineering
Cite this
Kinematic synthesis using tree topologies. / Simo Serra, Edgar; Perez-Gracia, Alba.
In: Mechanism and Machine Theory, Vol. 72, 2014, p. 94-113.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Kinematic synthesis using tree topologies
AU - Simo Serra, Edgar
AU - Perez-Gracia, Alba
PY - 2014
Y1 - 2014
N2 - This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.
AB - This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.
KW - Graph theory
KW - Kinematic synthesis
KW - Tree articulated systems
UR - http://www.scopus.com/inward/record.url?scp=84887298140&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887298140&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2013.10.004
DO - 10.1016/j.mechmachtheory.2013.10.004
M3 - Article
AN - SCOPUS:84887298140
VL - 72
SP - 94
EP - 113
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
ER -