Collision-free Design of Rational Single-loop Linkages

Información del proyecto

LoopMechColls

Identificador del acuerdo de subvención: 101107125

DOI

10.3030/101107125

Proyecto cerrado

Fecha de la firma de la CE 19 Abril 2023

Fecha de inicio 1 Julio 2023

Fecha de finalización 30 Junio 2025

Financiado con arreglo a

• Marie Skłodowska-Curie Actions (MSCA)

Coste total

Sin datos

Aportación de la UE

€ 183 600,96

Coordinado por

UNIVERSITAET INNSBRUCK
Austria

Periodic Reporting for period 1 - LoopMechColls (Collision-free Design of Rational Single-loop Linkages)

Período documentado: 2023-07-01 hasta 2025-06-30

Resumen del contexto y de los objetivos generales del proyecto

The project was focused on collision-free design of rational single-loop linkages. These mechanisms are single purpose devices capable of performing a desired task with only one degree of freedom (only one driven motor is required). The main objective was to develop an algorithm to produce them without any self-intersections that often occur during their motion.

Trabajo realizado desde el comienzo del proyecto hasta el final del período abarcado por el informe y los principales resultados hasta la fecha

The work consisted of 3 work packages that were focused on mechanism modeling with curved links, collision quantification, design optimization, and prototyping. These tasks were fulfilled as planned. To assure reproducibility, the developed algorithms were published both in journals as research articles, and the implementation as an open source Python package.

Avances que van más allá del estado de la técnica e impacto potencial esperado (incluida la repercusión socioeconómica y las implicaciones sociales más amplias del proyecto hasta la fecha)

The key results were delivered as follows: Straight-line models of linkages can be replaced with the newly developed curved-link models, which are suitable for design optimization. Collisions were continuously quantified based on the location of the collision. Numerical inverse kinematics algorithm was developed for the linkages. An equidistant motion planning algorithm was developed for the linkages. Special type of linkages - snapping structures, were further investigated and a new synthesis algorithm was developed.