1 / 8

An Extensible Java Applet for Spatial Linkage Synthesis

An Extensible Java Applet for Spatial Linkage Synthesis. Paper#: DETC02/MECH-34371 27th Biennial Mechanisms and Robotics Conference 2002 ASME Design Engineering Technical Conferences September 29 - October 2, 2002 Montreal, Quebec, Canada Presenter: Haijun Su

minya
Download Presentation

An Extensible Java Applet for Spatial Linkage Synthesis

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. An Extensible Java Applet for Spatial Linkage Synthesis Paper#: DETC02/MECH-34371 27th Biennial Mechanisms and Robotics Conference 2002 ASME Design Engineering Technical Conferences September 29 - October 2, 2002 Montreal, Quebec, Canada Presenter: Haijun Su Coauthors: Curtis Collins, J. Michael McCarthy Robotics and Automation Laboratory Department of Mechanical and Aerospace Engineering University of California Irvine, California 92697 2002 ASME Design Engineering Technical Conferences, Montreal

  2. Motivation and Objectives • Analysis and Design System for Constrained Robotic Systems • Each supporting chain imposes at least one constraint • Serial and parallel robots (dof<6) • Goals of SYNTHETICA 1.0 • Organize system structure • Develop mechanism classes • Facilitate collaborative development 2002 ASME Design Engineering Technical Conferences, Montreal

  3. Software Architecture • Loading synthesis and analysis routine • Synthesize/create linkages • Edit, import and export linkage data • Analyze (path approximation, type map etc.) • Display/Animate 2002 ASME Design Engineering Technical Conferences, Montreal

  4. SYNTHETICA Organization • Main Program • Java Applet • Stand alone application • Package kinemath • Mathematic tools, motion interpolation, equation solver etc. • Package mechanism • Extensible for users 2002 ASME Design Engineering Technical Conferences, Montreal

  5. Package mechanism • Classes • Joint and JointR/P/H/C/T/S • Link • Mechanism, SerialMechanism, ParallelMechanism • DesignTask • Trajectory • Interfaces • ForwardKinematics • InverseKinematics • Synthesizable • Drawable 2002 ASME Design Engineering Technical Conferences, Montreal

  6. Sample Java Codes for Extending SYNTHETICA • Extends your class from SerialMechanism or ParallelMechanism • Implements certain interfaces, e.g Synthesizable • Compile your Java code with SYNTHETICA • Place your resulted .class file where SYNTHETICA can locate • Run SYNTHETICA 2002 ASME Design Engineering Technical Conferences, Montreal

  7. SYTHETICA Interface Animation Bar Data I/O Object Tree GL4Java Viewer Info Panel Teach Panel Work piece 2002 ASME Design Engineering Technical Conferences, Montreal

  8. Conclusion and Future Work • Conclusions: • SYNTHETICA is for analysis and synthesis of constrained robotic systems • SYNTHETICA works for both serial and parallel topologies • SYNTHETICA is extensible, user routines can be integrated. • Future work: • Implement more synthesis and analysis routines • RS, TPR, RPR, CS etc. • Improve user interfaces • You are welcome to visit our website http://synthetica.eng.uci.edu/~mccarthy/and download SYNTHETICA 2002 ASME Design Engineering Technical Conferences, Montreal

More Related