TOPOLOGICAL SYNTHESIS OF GEARED ROBOTIC MECHANISMS

An efficient and systematic methodology for the topological synthesis of geared robotic mechanisms is developed. The approach is based on th e idea that the kinematic structure of a geared robotic mechanism can be described by an equivalent open-loop chain (EOLC) and mechanical tr ansmission lines (MTLs) which drive the joints of the EOLC. it is show n that an MTL can be decomposed as an input unit and several transmiss ion units connected in series. The characteristics of the input and tr ansmission units are laid out and a systematic methodology is develope d to enumerate all admissible input and transmission units from the ex isting atlas of nonfractionated geared kinematic chains. The atlas of admissible MTLs are then generated accordingly. Thus, all admissible g eared robotic mechanisms can be enumerated efficiently with the atlas of admissible MTLs and a preferred form of the EOLC. With this new met hodology some novel structures of geared robotic mechanisms are obtain ed and it is believed that new areas of application can be further exp lored.