Using the skeleton model for preliminary geometrical synthesis of three-dimensional cinematic chains

摘要

The skeleton principle which consists in representing the main features of mechanism architectures by filar structures at the early stage of design is presented. The possibility of extending the skeleton concept to constructive primitives such as slider-crank, eccentric, rack-and-pinion or cam is considered Using the well-known mDH notations, an assembly method is proposed, allowing for the automatic construction of the geometrical model of any 3D cinematic chains. This model is used within a closed chain synthesis process to help designers check whether a candidate structure can satisfy both orientation and position constraints.