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Spatial-temporal motion control via composite cam-follower mechanisms

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Ligang LiuAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 40, Issue 6

Article No.: 270, Pages 1 - 15

https://doi.org/10.1145/3478513.3480477

Published: 10 December 2021 Publication History

Abstract

Motion control, both on the trajectory and timing, is crucial for mechanical automata to perform functionalities such as walking and entertaining. We present composite cam-follower mechanisms that can control their spatial-temporal motions to exactly follow trajectories and timings specified by users, and propose a computational technique to model, design, and optimize these mechanisms. The building blocks of our mechanisms are a new kind of cam-follower mechanism with a modified joint, in which the follower can perform spatial motion on a planar, cylindrical, or spherical surface controlled by the 3D cam's profile. We parameterize the geometry of these cam-follower mechanisms, formulate analytical equations to model their kinematics and dynamics, and present a method to combine multiple cam-follower mechanisms into a working mechanism. Taking this modeling as a foundation, we propose a computational approach to designing and optimizing the geometry and layout of composite cam-follower mechanisms, with an objective of performing target spatial-temporal motions driving by a small motor torque. We demonstrate the effectiveness of our technique by designing different kinds of personalized automata and showing results not attainable by conventional mechanisms.

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Cited By

Wu YDeng HLiu HZhao XFang Y(2025)NKhex: A New Miniature Hexapod Crawling Robot With Visual Perception and Target TrackingIEEE Transactions on Industrial Electronics10.1109/TIE.2024.340990172:1(693-702)Online publication date: Jan-2025
https://doi.org/10.1109/TIE.2024.3409901
Zhu GGuo WLi YHan Y(2024)Extension of transmission performance evaluation for planar higher pair mechanismsMechanism and Machine Theory10.1016/j.mechmachtheory.2023.105527192(105527)Online publication date: Feb-2024
https://doi.org/10.1016/j.mechmachtheory.2023.105527
Yousuf L(2023)Symmetry and Asymmetry of Chaotic Motion in a Crank Arm and Connecting Rod Due to the Movement of the FollowerSymmetry10.3390/sym1512214815:12(2148)Online publication date: 3-Dec-2023
https://doi.org/10.3390/sym15122148
Show More Cited By

Index Terms

Spatial-temporal motion control via composite cam-follower mechanisms
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation
    2. Shape modeling

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 40, Issue 6

December 2021

1351 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3478513

Issue’s Table of Contents

Copyright © 2021 ACM.

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Publication History

Published: 10 December 2021

Published in TOG Volume 40, Issue 6

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Cited By

Wu YDeng HLiu HZhao XFang Y(2025)NKhex: A New Miniature Hexapod Crawling Robot With Visual Perception and Target TrackingIEEE Transactions on Industrial Electronics10.1109/TIE.2024.340990172:1(693-702)Online publication date: Jan-2025
https://doi.org/10.1109/TIE.2024.3409901
Zhu GGuo WLi YHan Y(2024)Extension of transmission performance evaluation for planar higher pair mechanismsMechanism and Machine Theory10.1016/j.mechmachtheory.2023.105527192(105527)Online publication date: Feb-2024
https://doi.org/10.1016/j.mechmachtheory.2023.105527
Yousuf L(2023)Symmetry and Asymmetry of Chaotic Motion in a Crank Arm and Connecting Rod Due to the Movement of the FollowerSymmetry10.3390/sym1512214815:12(2148)Online publication date: 3-Dec-2023
https://doi.org/10.3390/sym15122148
Zayas-Figueras EBuj-Corral I(2023)Comparative Study about Dimensional Accuracy and Surface Finish of Constant-Breadth Cams Manufactured by FFF and CNC MillingMicromachines10.3390/mi1402037714:2(377)Online publication date: 2-Feb-2023
https://doi.org/10.3390/mi14020377
Maloisel GSchumacher CKnoop EGrandia RBächer M(2023)Optimal Design of Robotic Character KinematicsACM Transactions on Graphics10.1145/361840442:6(1-15)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618404
Wang SZhang KHu YHou LGuo K(2023)Design and characterization of a novel motion conversion element: curved groove ball bearing without retainerMechanics Based Design of Structures and Machines10.1080/15397734.2023.227158052:9(6125-6141)Online publication date: 26-Oct-2023
https://doi.org/10.1080/15397734.2023.2271580
Zhao XLiu FLiu HXu MTang HLi XHu Y(2023)CoGCN: co-occurring item-aware GCN for recommendationNeural Computing and Applications10.1007/s00521-023-08703-w35:36(25107-25120)Online publication date: 14-Jun-2023
https://dl.acm.org/doi/10.1007/s00521-023-08703-w

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