Motion Generation Synthesis of HPPH Linkage

摘要

In this paper the motion generation task for the HPPH mechanism is found. Three positions of the end effector are defined in a cylindrical subspace. The constraint parameters of the HPPH mechanism for the synthesis are depicted. An objective function is constructed using equation of motion of the HP dyad. To achieve three poses for this linkage, the helical movements are specified by a quadratic function. After describing the objective function of the linkage, an algorithm and a numerical example is given to show the behavior of the synthesis.