KINEMATIC SYNTHESIS AND DYNAMIC ANALYSIS OF THE DUAL-ROD SLIDER ROCKER MECHANISM: AN APPLICATION TO MODULAR ROBOTICS

摘要

In mechanism theory and design, no work has been reported on the kinematic synthesis and dynamic analysis of the dual-rod slider rocker mechanism. By definition, this system is equivalent to two traditional slider-rocker mechanisms that share a common rocker, where the two sliders translate along two opposite directions of motion. Unlike a single slider-rocker mechanism, the dual-rod-based mechanism exhibits unique kinematic characteristics in which the two sliders do not travel the same distance for the same rocker rotation. This paper presents an optimal analysis that outlines the early investigations on the kinematic design and dynamic analysis of the dual-rod slider rocker mechanism. Because of the translation difference that exists between the two sliders, an expression for the relative position error is derived. This error is integrated as a cost function in an optimization problem which calculates the optimal rod length that allows the two sliders to meet terminal boundary conditions. These kinematics are validated experimentally through a case-study application in modular robotic docking.