Kinematic synthesis using tree topologies

Edgar Simo-Serra; Alba Perez-Gracia

doi:10.1016/j.mechmachtheory.2013.10.004

Kinematic synthesis using tree topologies

Edgar Simo-Serra, Alba Perez-Gracia^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

16 Citations (Scopus)

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	https://doi.org/10.1016/j.mechmachtheory.2013.10.004
Publication status	Published - 2014
Externally published	Yes

Keywords

Graph theory
Kinematic synthesis
Tree articulated systems

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

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10.1016/j.mechmachtheory.2013.10.004

Cite this

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title = "Kinematic synthesis using tree topologies",

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.",

keywords = "Graph theory, Kinematic synthesis, Tree articulated systems",

author = "Edgar Simo-Serra and Alba Perez-Gracia",

note = "Funding Information: This work is supported by the National Science Foundation under Grant No. 1208385 . The content is solely the author's responsibility. ",

year = "2014",

doi = "10.1016/j.mechmachtheory.2013.10.004",

language = "English",

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T1 - Kinematic synthesis using tree topologies

AU - Simo-Serra, Edgar

AU - Perez-Gracia, Alba

N1 - Funding Information: This work is supported by the National Science Foundation under Grant No. 1208385 . The content is solely the author's responsibility.

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

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SP - 94

EP - 113

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

SN - 0374-1052

ER -

Kinematic synthesis using tree topologies

Abstract

Keywords

ASJC Scopus subject areas

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