This paper describes a framework and algorithms for robust kinematic design of mechanical assemblies. The framework, developed over a period of ten years, is based on the configuration space method and supports automatic modeling, nominal and toleranced analysis, and part tolerance envelope computation of open and closed loop planar mechanisms with multiple, changing contacts. It also supports ...

This paper discusses the application of genetic programming to the synthesis of compound two-dimensional kinematic mechanisms, and benchmarks the results against one of the classical kinematic challenges of 19th century mechanical design. Considerations for selecting a representation for mechanism design are presented, and a number of human-competitive inventions are shown.

This paper presents two algorithms for kinematic synthesis of mechanisms . A mechanism is specified by its input and output motions . The algorithms determine a three dimensional structure of rigid parts that implements the given specification . Both algorithms are based on a new composition operation on configuration spaces . Both algorithms are efficient, constraint-satisfaction schemes that ...

the main objective of this paper is to study the euclidean displacement of a 5-dof parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as cartesian coordinates and euler angles. in this paper, study&a...

This paper deals with the kinematic synthesis of manipulator. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks speciied by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps : the problem statement, the objective functions formulation...

The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

In this paper we present a novel dimensional synthesis technique for approximate motion synthesis of spherical kinematic chains. The methodology uses an analytic representation of the spherical RR dyad’s workspace that is parameterized by its dimensional synthesis variables. A two loop nonlinear optimization technique is then employed to minimize the distance from the dyad’s workspace to a fini...