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OPTIMizATION OF
PATH GENERATION USING AN ATLAS OF COUPLER
CURVES OF GEARED FIVE- BAR LINKAGES
c, ZHANGt, R. L. NORTON , p, E, t and T,
Worcester Polytechnic Institute, Worcester, MA 01609, U,
(Received November 1982; in revised form 13 August 1983)
Abstract-An atlas containing 732 coupler curves traced by the symmetric geared five-bar linkage has been
drawn by the authors, Gear. ratios of + I , - 1, , - 2 , have been used. The data are presented either
six or twelve curves to a page , arranged in axonometric projection to illustrate the envelope of a family
of curves of that particular linkage
represent uniform intervals of input crank angular displacement in order to provide coupler point velocity
information. Other curves for parameters lying between those illustrated can be visually interpolated,
Optimization techniques can be applied to modify the geometric parameters of a linkage from
the atlas as an approximate solution to the path motion desired. The original
sheets in four colors with a Benson-Varian xy
conjunction with the atlas of linkage coupler curves to refine an initial selection of a desired motion path
to achieve a particular motion with minimum deviation. The geared five- bar linkage is used as an example
and a straight line generator is
a modification of Stephenson s 6- link one freedom coupler curve will be of higher order than sixth and
will have multiple loops
chain in which one binary link (link 6 in Fig, Ia) is
replaced by a two- freedom joint in the form of a gear application of multi- loop GFBM coupler
mesh, The gear the design of multiple dwell
respectively (Fig. Ib), A cams, Rose(6) discusses the design of GFBM
is shown in Fig, I(c) in which complete gears contain- tions to problems of pseudo-straight line generation
ing joints and precision point curve generation,
links 2 and 5, with input provided to either, In most While the commonly used four- bar linkage(I6) has
of the GFBM literature , the joint 134 great versatility in terms of the
coupler point , although any points on the two cou- function generation obtainable, the geared five- bar
pler planes formed by link 3 and 4 extended can serve introduces
as a source of output motion, namely: gear ratio , phase angle and additional link
Another ratio, In addition , it is not
ratio be a constant. Non- circular gears , or their drag
link 4- bar equivalent , can be used to couple the
geared" links , thus allowing the displacement
tVisiting Scholar. Also , Assistant Professor , Hebei Institute velocity profile of the coupler point to
of Mining and varied over that obtained with constant ratio, In the
Republic of China,
case of a drag link coupling, the linkage reverts to a
tAssociate Professor of Mechanical
~Professor of Mechanical Engineering, Stephenson s 6:- bar (Fig, Ia).
459
, y-
r34
134
r34
123
123
123
5\
(0) (b) (c) .
Fig, t, Relation between s 6-bar mechanism.
(0)
integers :!: 1 :1:2 are used as the usually an unsymmetric linkage is obtained after the
optimization process , with the tracer- point not neces-
consideration is given to symmetry and repeatability
of the curves in determining the range of phase angles sarily still being the pin between the two couplers
displayed. Based on these simplifications , the number
of basic parameters of a
generator is reduced to 4 gear ratio,
ex-ratio of length of the floating couplets over that of
the cranks, p-ratio of length of the center distance
connecting the two fixed
cranks phase angle,
The
designed to show the " envelope " of a
coupler curves when a single design parameter such
as phase angle is varied, It is quite likely that a curve
lying between those displayed may be more nearly
optimal for a given , the Fig, 3, Symmetric GFBM,
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461
Optimization of parameters for
Approximately 732 coupler curves are accurately or " envelope , is implied and the trend of variation
plotted for ' a of the curves can be observed.
The maximum curve between two given curves by interpolation and
Benson-Varian plotter is about 0. 005 ins. Each cou- use it as a better starting design,
displacement of the tracer- point for a are symmetric about the centerline , which is a straight
angular displacement of the driving crank. The family line with LI 13 /2. With different phase angle
of curves generated by a linkage with the same value different curves are generated, For the case
frames are arranged along a third skew axis , which ')' = 1800 , For the case = :t2 , with phase angle
can be phase angle axis . In such a (')' + 12n/AI), the curve generated
three- dimensional representation , a curved' surface generated with angle
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increment of 150 , the combinations of )I used A scale diagram of the linkage is shown , and the
ill the atlas are three basic parameters 0( , p and
Combinations of parameters page, The value of pha.se angle is labeled near the first
mined such that the mechanism will point of each curve, A small
when L = BD (Fig, 3), the condition of mobility is , node on the those nodes which cot-
rrespond to rotation angle (J = 60 n (n = 0, ,
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listed in Table 2,
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Fig, 9, A sample
geared five- bar linkage is expected to generate a The mechanism can trace out a straight line with
straight line Yo = 2. 5 as the. input crank rotates over
1500 , In the other , the tracer- point min = max = 2, 756 in,
returns at a lower average
should be parallel to the center- line connecting the The travel length of the tracer- point
two fixed pivots. max - min = 1.499
The maximum error
The maximum absolute error
() = max (Iy
() = 0, 0042 in,
is taken as objective function to be
It is clear from the atlas that the best The relative error
straight line parallel to the center- line is the
anism with gear ratio = 1, In this particular case Il = 6/L = 0, 0029, or 0,
the design variable vector is reduced to
If the travel does not satisfy the requirement , all the
(Lh L2, A , XII' YII, (JOh
sizes can be changed proportionally,
If the straight line is desired to
rotation angle of 2100
Curve #
curve # 2 in
design. It is very interesting that two very
LI = 1.0 = 4, 0 in" = 5, 0 in.,
L2 straight- line generators will be
XII = 0, YA = 0. 33 in., with nearly adjacent similar designs from the same
= 285, (Jo l = 2380 (The point 0 is taken as the first atlas set. Note that each of the two
point , as shown in Fig. 9), a similar path position function but the
markedly different in each case , one being a " quick
Generally speaking, the objective function in the return " and the otherbeirtg a " slow return " mech-
optimum design of a path- generating mechanism is a anism , due to the velocity pattern differences between
multi-extremum function, To obtain a better design curves 1 and 2 which differ only in phase
a random would be very difficult to find each of
method. The optimization process gives the following minima I by
niques, The existence of an atlas to provide
result:
starting designs for optimization is then very useful.
L, = 0.4716 in" L2 = 3, 569 in. = 4, 571 in" REFERENCES
XII 265 in. YII 0.178 in" 1. F. Reuleaux The Kinematics of Machinery, 574-
= 2640 , (Joh = 250. 80. Dover , New York
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. :: :.,. ::~: -.-- --- --.-"'
C"-
-- _e.__
Engng 23 , 175- 177 10, R, L. Fox , and K, C, Gupta J, Engng Ind, , 657
2, 0, C, Tao
201 , 203 , 205 (1982),
3, F, Freudenstein and E, j, F, Primrose
Product
Resume- Les auteurs presentent un atlas de tnyectoires tracees par un point relie it un organe d'
mecanisme pentalateral symetrique commande
ises sont + I , - I, + 2 et - 2, ou douze courbes par page, arranges
en projection axonometrique pour illustrer I' enveloppe de la famille des courbes qu on obtient en
sur la trajectoire,
faisant varier la phase entre les engrenages, Des points sur les courbes representent les de
angulaires equidistants des manivelles motrices et fournissent ainsi I' information sur la vitesse du point
Les courbes originales sont tracees en quatre couleurs sur des feuilles de II
des algorithmes d' optimisation sont utilises pour obtenir la trajeetoire desiree avee un
17 pouees. Ensuite,
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