Exact 3D Path Generation via 3D Cam-Linkage Mechanisms
DescriptionExact 3D path generation is a fundamental problem of designing a mechanism to make a point exactly move along a prescribed 3D path, driven by a single actuator. Existing mechanisms are insufficient to address this problem. Planar linkages and their combinations with gears and/or plate cams can only generate 2D paths while 1-DOF spatial linkages can only generate 3D paths with rather simple shapes. In this paper, we present a new 3D cam-linkage mechanism, consisting of two 3D cams and five links, for exactly generating a continuous 3D path. To design a 3D cam-linkage mechanism, we first model a 3-DOF 5-bar spatial linkage to exactly generate a prescribed 3D path and then reduce the spatial linkage’s DOFs from 3 to 1 by composing the linkage with two 3D cam-follower mechanisms. Our computational approach optimizes the 3D cam-linkage mechanism’s topology and geometry to minimize the mechanism’s total weight while ensuring smooth, collision-free, and singularity-free motion. We show that our 3D cam-linkage mechanism is able to exactly generate a continuous 3D path with arbitrary shape and a finite number of C0 points, evaluate the mechanism’s kinematic performance with 3D printed prototypes, and demonstrate that the mechanism can be generalized for exact 3D motion generation.
Event Type
Technical Papers
TimeThursday, 8 December 202211:00am - 12:30pm KST
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