DETC2003/DAC-48818 DIMENSIONAL SYNTHESIS OF CRR SERIAL CHAINS

This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained from the dual quaternion kinematics equations evaluated at a specified set of task posi-tions. In this case, we find that the chain is completely defined by seven task positions. Furthermore, our solution of these equa-tions has yielded 52 candidate designs, so far. There may be many more. This synthesis methodology shows promise for the design of constrained serial chains