DE-Vol.

46

MECHANISM DESIGN
AND SYNTHESIS
presented at
THE 1992 ASME DESIGN TECHNICAL CONFERENCES 22ND BIENNIAL MECHANISMS CONFERENCE
SCOTTSDALE, ARIZONA
SEPTEMBER 13-16, 1992
sponsored by
THE DESIGN ENGINEERING DIVISION, ASME
edited by
G. KINZEL
OHIO STATE UNIVERSITY
C. REINHOLTZ
VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY
G. R. PENNOCK
PURDUE UNIVERSITY
G. J. WIENS
AUBURN UNIVERSITY
R. J. CIPRA
PURDUE UNIVERSITY
B. B. THOMPSON
MICHIGAN STATE UNIVERSITY
T. R. CHASE
UNIVERSITY OF MINNESOTA

T H E A M E R I C A N S O C I E T Y OF M E C H A N I C A L E N G I N E E R S
United Engineering Center % 345 East 47th Street *% New York, N.Y. 10017

CONTENTS

MECHANISM DESIGN
A Generalized Performance Sensitivity Synthesis Methodology for Four-Bar Mechanisms
Ming-Yih Lee and Arthur G. Erdman
A Derivation of the Pole Curve Equations in the Projective Plane
Michael H. Brady and Steven W. Peterson
The Pole Curve Generated by Infinite Poles
Michael H. Brady and Steven W. Peterson
The Anatomy of Smart Materials and Structures, and Their Influence on Design Practices for
Mechanisms, Machines and Robotic Systems
B. S. Thompson, M. V. Gandhi, and S. B. Chol
A New Damping Model for Non-Linear Stiffness Systems With Variable Preload Displacements
and Constant Amplitude Decay Ratios
T. Xu and G. G. Lwen
Grashof Type Rotatability Criteria of Spherical Five-Bar Linkages
Dilip Kohli and Ardie Khonji
MECHANISM SYNTHESIS I
A Complex Number Approach for Absolute Precision Position Synthesis for Three Precision
Positions
John A. Mirth
A Dyad Search Algorithm for Solving Planar Linkages Using the Dyad Method
Lofti Romdhane
Burmester-Theory for Band-Mechanisms
Kurt Luck and Karl-Heinz Modler
A Straight-Line Mechanism and Its Application in Vehicles
S. J. Zhang and D. J. Sanger
A General Procedure for Dimensional Synthesis of Mechanisms
Michael Rygaard Hansen
Synthesis of Single-Input and Multiple-Output Port Mechanisms With Springs for Specified
Energy Absorption
John G. Jenuwine and Ashok Midha
ENTIRE MOTION CHARACTERISTICS I
Geometrie Conditions for the Satisfaction of Order in Four Position Synthesis of Four-Bar
Linkages
John A. Mirth
Transmission Error Analysis of a Parallel Symmetrie Geared Linkage Mechanism
Ji-Hou Yang
Joint Rotation Space of Five-Bar Linkages
Kwun-Lon Ting and J. H. Shyu
A New Parameter for Transmission Quality and Output Sensitivity Analysis of Mechanisms
Fubang Wu and H. M. Lankarani
Synthesis of Mechanisms Including Circuit Defects, Branch Defects and Input-Crank Rotatability
Jyun-Cheng Cheng and Dilip Kohli
Link-Centre and Indexes of a Kinematic Chain
V. P. Agrawal, J. N. Yadav, and C. R. Pratap

1
5
13

19

27
35

43
49
55
61
67

73

81
89
93
103
111
121

COMPUTER-AIDED DESIGN OF MECHANISMS

Simulation of Mechanical Systems With Multiple Frictional Contacts
Yin-Tien Wang and Vijay Kumar
Software for Optimum Gear Design (DISENG)
Juan Carlos Juregui, Rodrigo Lopez Sansalvador,
Alfredo Ramos Aparicio, and Isaias Regalado Contreras
Identification of Flexible Link Dynamics Using Neural Networks
Lawrence D'Arcangelis and Satish S. Nair
Rectified Synthesis of Coupler-Driven Four-Bar Mechanisms for Four-Position Motion Generation
S. Bawab, Gary L. Kinzel, and Kenneth J. Waldron
Parametric Defiection Approximations for End-Loaded, Large-Deflection Beams in Compliant
Mechanisms
Larry L. Howell and Ashok Midha
Evaluation Criteria for Conceptual Designs of Deployable-Foldable Truss Structures
Dirk B. Warnaar
TOPICS IN MECHAN1SM EDUCATION
Development of Commercial Quality Software for Mechanisms Design Education
Steven J. Timmins
Issues on Teaching Kinematics and Mechanisms Design
Arthur G. Erdman and Thomas R. Corrigan
Machine Design Projects Using TK Solver
Mike Goatley and Raghu Echempati
New CAD Approaches in Research and Teaching for the Design of Non-Uniform Motion
Mechanisms
Wolfram Funk
DESIGN OF MACHINES
Multiple Flywheel Recuperation System
Philip Marinov and Stefan Pavlov
Torque Resolver Design for Tendon-Driven Manipulators
Jyh-Jone Lee and Lung-Wen Tsai
Automated Cam-Mechanism Synthesis and Analysis
Arnold T. Eventoff
Exact Generation of Perpendicular Pipe Intersection Geometry
C. Amarnath
Mechanisms of the Ancient Greek Theater
Andrew D. Dimarogonas
MECHANISM SYNTHESIS II
Systematic Synthesis and Applications of Novel Multi-Degree-of-Freedom Differential Systems
Sridhar Kota and Srinivas Bidare
Position-Force Synthesis of Closed-Loop Linkages
Chintien Huang and Bernard Roth
Generalized Synthesis of Adjustable Mechanisms
Tushchai Chuenchom and Sridhar Kota
Directional Probabilistic Design of Three-Coupler-Point Four-Bar Mechanisms
George R. Schade, Douglas R. Korbel, and Deena D. Shanmugam
A Constructive Variational Geometry Based Mechanism Design Software Package
Philip H. Todd
MECHANISM SYNTHESIS III
Computer Aided Design and Analysis of the Rack and Pinion Mechanism
D. Srinivas and Steven N. Kramer
Complete Solutions to Synthesis of Six-Link, Slider-Crank and Four-Link Mechanisms for
Function, Path and Motion Generation Using Homotopy With M-Homogenization
Anoop K. Dhingra, Jyun-Cheng Cheng, and Dilip Kohli

vi

129

135
141
147

157
167

175
179
185

191

197
203
211
225
229

235
243
253
261
267

275

281

An Automated Inversion Approach to Closed-Form Kinematic Analysis of Planar Mechanisms

Arunava Biswas and Gary L Kinzel
A Unified Analysis and Implementation of Four Muitipiy Separated Position Synthesis of Four-Bar
Linkages
P. Srikrishna and Kenneth J. Waldron
Simplified Mechanism Design
Preben W. Jensen
Determination of the Shortest Crank in Four Position Synthesis:
A Numerical Approach
Shin Min Song, Fu-Hung Lu, Ning-Xin Chen, and
Kenneth J. Waldron
CAM SYSTEMS
On the Design of Planar and Spherical Pure-Rolling Indexing Cam Mechanisms
Max Antonio Gonzlez-Palacios and Jorge Angeles
The Synthesis of Cam-Oscillating Roller-Follower Mechanisms:
A Unified Approach
Max Antonio Gonzlez-Palacios and Jorge Angeles
Synthesis of Wrapping Cams
Paul H. Tidwell, Naveed Bandukwala, Sanjay G. Dhande,
Charles F. Reinholtz, and Greg Webb
Application of the Theory of Envelope to the Determination of Camoid Profiles With Translating
Followers
Der Min Tsay and Guan Shyong Hwang
A General Optimization Program for Design of Cam Mechanisms
Han Zhao, J. Liang, and T. Ma
ENTIRE MOTION CHARACTERISTICS II
Circuit Rectification for Four Precision Position Synthesis of Stephenson Six-Bar Linkages
John A. Mirth and Thomas R. Chase
Circuit Rectification for Four Precision Position Synthesis of Four-Bar and Watt Six-Bar Linkages
John A. Mirth and Thomas R. Chase
Graphical Synthesis for Limit Positions of a Four-Bar Mechanism Using the Triangle Inequality
Concept
Tony W. Norton, Ashok Midha, and Larry L Howell
Rotatability Laws for Spherical N-Bar Kinematic Chains
Yung-Way Liu and Kwun-Lon Ting
Multiloop Spatial Kinematic Analysis Based on the Joint Displacement Method
Yu-Neng Yang, Wei-Hua Chieng, and David A. Hoeltzel
GEARS AND MACHINE ELEMENTS
Kinematic and Static Force Analysis of Rocker-Pin Jointed Silent Chains With Involute Sprockets
N. K. Bucknor and Ferdinand Freudenstein
Computerized Simulation of Generation of Internal Involute Gears and Their Assembly
F. L Litvin, C.-L. Hsiao, J.-C. Wang, and X. Zhou
Criteria for the Design of High Efficiency Planocentric Transmissions
Juan Carlos Juregui and Rodrigo Lopez Sansalvador
On the Dynamic Analysis of Roller Chain Drives: Part I - Theory
Nicholas M. Veikos and Ferdinand Freudenstein
On the Dynamic Analysis of Roller Chain Drives: Part II Case Study
Nicholas M. Veikos and Ferdinand Freudenstein
An Application of Generalized Kinematic Chains to the Structural Synthesis of Nonfractionated
Epicyclic Gear Trains
Cheng-Ho Hsu
MECHANISM SYNTHESIS IV
A Dynamic Implementation of Keller's Sketching Rules for Burmester Curves: An Approach to
Sensitivity Analysis
J. Keith Nisbett and Sanjay K. Gupta

vii

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301
309

315

323

329

337

345
353

359
367

377
387
395

407
415
423
431
441

451

459

Tolerance Synthesis Method for an Industrial Crank-Rocker Application

Mark M. Benner and Arthur G. Erdman
Geometrie Characteristics of the Center-Point Curve Based on the Kinematics of the Compatibility
Linkage
J. A. Schaaf and J. A. Lammers
A Proposed Method to Group the Solutions From Dimensional Synthesis:
Planar Triads for Six Precision Positions
Xiancheng Lu and Chuen-Sen Lin
Use of Resultant in the Dimensional Synthesis of Linkage Components:
Motion Generation With Prescribed Timing
Chuen-Sen Lin and Bao-Ping Jia
Four-Position Synthesis for Spatial Mechanisms With Two Independent Loops
Chien H. Chiang, Wei Hua Chieng, and David A. Hoeltzel
GENERATION OF MOTION TRAJECT0R1ES FOR CAD/CAM
Geometrie Construction of Bezier Type Motion interpolants
Q. J. Ge and B. Ravani
Tool Path Geometry for Multi-Axis Kinematics Conversion in CAD-CAM Integration
Jui-Jen Chou and D. C. H. Yang
Automatic Generation of Piecewise Constant Speed Motion for Multi-Axis Machines
D. C. H. Yang and Jui-Jen Chou
A Quintic Spline Interpolator for Motion Command Generation of Computer-Controlled Machines
D. C. H. Yang and Fu-Chung Wang
MECHANISM OPT1MIZATION I
Optimization of Function-Generating Mechanisms Using Input-Output Curve Planning:
Part I Curve Planning and Data Preparation
Zheng Liu and Jorge Angeles
The Second Order Optimum Synthesis of a Compound Mechanism With Flexible Member
Caifang Meng, Zuo Dai, and Jianzhong Cha
Optimization of Function-Generating Mechanisms Using Input-Putput Curve Planning:
Part II Formulation and Optimization Strategies
Zheng Liu and Jorge Angeles
Optimization of Mechanism Timing Using Noncircular Gearing
Judd Bernard
Constrained Optimization of Multi-Degree-of-Freedom Mechanisms for Near-Time Optimal
Motions
Satish Sundar and Zvi Shiller

463

475

481

489
497

511
519
531
537

545
551

557
565

571

MECHANISM SYNTHESIS V
Synthesis of an RSSR-SS Mechanism Using a Continuation Method
Thiagaraj Subbian and Donald R. Flugrad, Jr.
A Unified Theory for Kinematic Synthesis
Paul A. James and Bernard Roth
Kinematic Transformation Matrices for 3D Surface Contact Joints
L J. Gutkowski and Gary L. Kinzel
Kinematic Analysis and Synthesis of Type III Movable Spatial 6R Mechanism With Three Adjacent
Parallel Axes
Chung-Ching Lee and Hong-Sen Yan
A New Approach to the Synthesis of Spherical Mechanisms for Rigid Body Guidance
CanLi

615

MECHANISM OPTIMIZATION II
The Optimal Design of Mechanisms Employing a Synthesis Based Merit Function
Christian H. Gold and Stephen J. Derby

621

viii

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587
599

607

Nonlinear Optimal Design of Dynamic Mechanical Systems

T. E. Potter, K. D. Willmert, and M. Sathyamoorthy
A Singularity-Free Penalty Formulation for the Dynamics of Constrained Multibody Systems
A. Avello and E. Bayo
Optimal Synthesis of Four-Bar Linkages for Four-Position Rigid-Body Guidance With Selective
Tolerance Specifications
Shankar C. Venkataraman, Gary L. Kinzel, and Kenneth J. Waldron
Using Singular Value Decomposition in the Analysis of Over and Underconstrained Mechanisms
L. J. Gutkowski
Aiithor Index

643

651
661
671

ix

633