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  • The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance
Title: The Synthesis of Spherical Four-bars for Biomimetic Motion through Complete Solutions for Approximate Rigid Body Guidance
In this paper, we form a constrained optimization problem for spherical four-bar motion generation. Instead of using local optimization methods, all critical points are found using homotopy continuation solvers. The complete solution set provides a full view of the optimization landscape and gives the designer more freedom in selecting a mechanism. The motion generation problem admits 61 critical points, of which two must be selected for each four-bar mechanism. We sort solutions by objective value and perform a second order analysis to determine if the solution is a minimum, maximum, or saddle point. We apply our approximate synthesis technique to two applications: a hummingbird wing mechanism and a sea turtle flipper gait. Suitable mechanisms were selected from the respective solution sets and used to build physical prototypes.  more » « less
Award ID(s):
2144732
PAR ID:
10562608
Author(s) / Creator(s):
;
Publisher / Repository:
ASME
Date Published:
Journal Name:
Journal of Mechanisms and Robotics
ISSN:
1942-4302
Page Range / eLocation ID:
1 to 8
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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