1. ARTTREEKS A KINEMATIC SYNTHESIS SOLVER FOR TREE TOPOLOGIES. PRESENTED BY ALI TAMIMI

2. OUTLINE ARCHITECTURE INSTALLATION INPUT FORWARD KINEMATHIC SOLVABILITY

3. ARCHITECTURE Input File: Contains the tree topology and the task positions, velocities and accelerations. Solvability Library: Functions to calculate tree solvability. Solvability output: Results of solvability calculations. Generator File: Functions to check solvability, assemble forward kinematics equations and assign initial values. Synthesis File: output file with design equations. Synthesis Library: Library of functions to communicate solver and Synthesis file. Solvers: Genetic algorithm and Minpack C++ code to generate candidate solutions and perform minimization. Synthesis output: output file containing the result of the synthesis.

4. ARCHITECTURE Input File Input File Solvability Library Solvability Library Generator File Generator File Solvability Output Solvability Output Synthesis File Synthesis File Synthesis Library Synthesis Library Synthesis Output Synthesis Output Solvers

5. INSTALLATION DEPENDENCY libdq :library for using and manipulating unit dual quaternions cminpack:C++ library for solving nonlinear equations and nonlinear least squares problems. Ptheread:defines an API for creating and manipulating threads. Lua: a powerful, fast, lightweight, embeddable scripting language. SDL(Simple Direct Media Layer): a library designed to provide a low level hardware abstraction layer to computer hardware components. libpng: a platform-independent library that contains C functions for handling PNG images. Gl: Graphics Library Glu: The OpenGL Utility Library (GLU) is a computer graphics library for OpenGL. Nlopt: a free/open-source library for nonlinear optimization. Minpack: library for solving nonlinear equations and nonlinear least squares problems.

6. INPUT (TYPE) Previous Version Example: 2-(2,1-(3,3,3),2) New Version: ppt=(0,1,1,1,3,3,3) Joints=(2,2,1,2,3,3,3)

7. INPUT Forward Kinematics Topology of Tree Position, Velocity, Acceleration of End Effectors Solvability Topology of Tree

8. FORWARD KINEMATICS Make Synthesis File Chain (access) TCP (Contact Point) Splitter Send to Synthesis.C Use Solvers Generate output Files

9. FORWARD KINEMATICS

10. SOLVABILITY Send to Solvability Library Notes: Tc,Bee

11. SOLVABILITY(BUILD SUBGRAPHS)

12. ppt={0,1,1,1,3,3,3} Joints={2,2,1,2,3,3,3} ppt(1)={-1,0,2,2,3,3,3} Joints(1)={-1,2,1,2,3,3,3} ppt(2)={-1,-1,5,3,0,5,5} Joints(2)={-1,-1,1,2,3,3,3} ppt(3)={-1,-1,6,3,-1,0,6} Joints(3)={-1,-1,1,2,-1,3,3} ppt(4)={-1,-1,7,3,-1,-1,0} Joints(4)={-1,-1,1,2,-1,-1,3}

13. DEMO Demo Time