Design of Novel P-drivable 1DOF mechanisms
This research was presented at ASME’s IDETC 2023 Conference where it was awarded the A.T.Yang Memorial Award- given to the best paper on theoretical kinematics out of 200+ papers. The paper has also been invited to be published in a special issue ASME’s Journal of Mechanism & Robotics.
Actuating a single DOF mechanism via a separate P-drivable spherical–prismatic–spherical (SPS) chain that avoids singularities encountered by actuating the mechanism at one of its original joints.
- Does not alter the path of the mechanism.
- Process of producing singularity free spatial mechanisms to be broken into two steps:
(a) Kinematic synthesis- finding circuit-defect-free solutions capable of producing the desired motion
(b) Synthesizing this additional chain for actuation
Example# 1: Upward Spiraling Motion
Example# 2: A more complex motion
Example# 3: Wheel Rotating Without Slipping [Planar Example]
This was a rather quick overview of the research. I did not put in a lot of equations or anything to not make it look too complex. If you are interested in learning more about this research, drop me an email and I can send you the full research paper.
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