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Type of Document Master's Thesis Author Goehler, Craig Matthew Author's Email Address cgoehler@nd.edu URN etd-04142004-081722 Title A Generalized Parameterization of T1 Motion and its Application to the Synthesis of Planar Mechanisms Degree Master of Science Department Aerospace and Mechanical Engineering Advisory Committee
Advisor Name Title Michael M. Stanisic Committee Chair Bill Goodwine Committee Member Robert Howland Committee Member Keywords
- T1 motion
- curvature theory
- instantaneous invariants
- advanced kinematics
Date of Defense 2004-04-08 Availability unrestricted Abstract Prior development of T1 motion theory has used a second-orderparameterization which maximally simplifies the theory and allows for
a description of the kinematic geometry. In the T1 motion theory
presented here, this parameterization is generalized and not
limited to the second-order. The results of this generalized
parameterization are more algebraically complex; however, a purely
algebraic application of the theory to the motion synthesis
problem is made possible without an a-priori recognition of
the kinematic geometry. Examples of the synthesis of a four-bar
mechanism for rigid-body guidance and a four-bar mechanism
for function generation, are presented.
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