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Application of Optimization and Search Techniques to Synthesis of Planar, Shape-changing Rigid-body Mechanisms

出版	Ohio State University, 2007
URL	http://books.google.com.hk/books?id=UdURywAACAAJ&hl=&source=gbs_api

註釋Abstract: This work presents a procedure to synthesize planar linkages, composed of rigid links and revolute joints, that are capable of approximating a shape change defined by a set of closed or open curves possessing similar arc lengths. The synthesis approach is more rigorous and broadly applicable to dramatic changes between larger numbers of shapes than existing techniques that employ graphical methods. Link geometry is determined through analysis of piecewise linear representations of these curves, and those links are joined together in a chain using numerical optimization to minimize the error in approximating the shape change. Binary links are then added to this chain via a search of the design space such that actuated links can be driven monotonically to exact the shape change. The approach presented is general in that it can be used to find shape-change mechanisms capable of approximating an arbitrary number of open or closed curves. The procedure is applied to the following examples: an eight finitely separated position morphing wing, a three finitely separated position morphing turret, and a shape-change mechanism that approximates three open curves.