An Extensible Java Applet for Spatial Linkage Synthesis

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

2
Motivation and Objectives

• Analysis and Design System for Constrained
  Robotic Systems
• Each supporting chain imposes at least one
  constraint
• Serial and parallel robots (doflt6)
• Goals of SYNTHETICA 1.0
• Organize system structure
• Develop mechanism classes
• Facilitate collaborative development

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

4
SYNTHETICA Organization

• Main Program
• Java Applet
• Stand alone application
• Package kinemath
• Mathematic tools, motion interpolation, equation
  solver etc.
• Package mechanism
• Extensible for users

5
Package mechanism

• Classes
• Joint and JointR/P/H/C/T/S
• Link
• Mechanism, SerialMechanism, ParallelMechanism
• DesignTask
• Trajectory
• Interfaces
• ForwardKinematics
• InverseKinematics
• Synthesizable
• Drawable

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

7
SYTHETICA Interface
Animation Bar
Data I/O
Object Tree
GL4Java Viewer
Info Panel
Teach Panel
Work piece
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