10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal An Extensible Java Applet for Spatial Linkage Synthesis Paper#: DETC02/MECH th 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

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal Motivation and Objectives Analysis and Design System for Constrained Robotic Systems Each supporting chain imposes at least one constraint Serial and parallel robots (dof<6) Goals of SYNTHETICA 1.0 Organize system structure Develop mechanism classes Facilitate collaborative development

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal Software Architecture Loading synthesis and analysis routine Synthesize/create linkages Edit, import and export linkage data Analyze (path approximation, type map etc.) Display/Animate

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal SYNTHETICA Organization Main Program Java Applet Stand alone application Package kinemath Mathematic tools, motion interpolation, equation solver etc. Package mechanism Extensible for users

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal Package mechanism Classes Joint and JointR/P/H/C/T/S Link Mechanism, SerialMechanism, ParallelMechanism DesignTask Trajectory Interfaces ForwardKinematics InverseKinematics Synthesizable Drawable

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal 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

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal SYTHETICA Interface Object Tree Info Panel Teach Panel Work piece GL4Java Viewer Animation Bar Data I/O

10/01/2002 University of California, Irvine2002 ASME Design Engineering Technical Conferences, Montreal 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 and download SYNTHETICA