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Motion Paths Finding for Multi-Degree-of-Freedom Mechanisms

Li, Yang (2020) Motion Paths Finding for Multi-Degree-of-Freedom Mechanisms. International Journal of Mechanical Sciences, 185 . Art. No. 105709. ISSN 0020-7403.

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Multiple degree-of-freedom (DOF) mechanisms can provide more flexible reconfigurations than 1 DOF ones but are more complex to analyze. One difficulty is the existence of an unlimited number of valid motion direction at each configuration point. In this paper, a shooting method that is defined by customized target functions is introduced to help determine a specific motion direction at each configuration point. As a result, an incremental path-finding simulation can be carried out by following a unique motion direction at each step. The ability to arbitrarily define the target function allows a flexible and desirable exploration of the motion space, and it can find different motion paths to the target state. Two examples are provided, in which different motion paths for deploying a 5-bar linkage and folding a Resch-ori pattern are generated.

Item Type:Article
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Li, Yang0000-0002-4939-8174
Additional Information:© 2020 Published by Elsevier Ltd. Received 17 December 2019, Revised 1 April 2020, Accepted 18 April 2020, Available online 6 May 2020.
Record Number:CaltechAUTHORS:20200506-152746376
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Official Citation:Yang Li, Motion paths finding for multi-degree-of-freedom mechanisms, International Journal of Mechanical Sciences, Volume 185, 2020, 105709, ISSN 0020-7403, (
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:103050
Deposited By: Tony Diaz
Deposited On:06 May 2020 22:39
Last Modified:26 Jun 2020 16:18

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