Kinematic synthesis

In mechanical engineering, kinematic synthesis (also known as mechanism synthesis) determines the size and configuration of mechanisms that shape the flow of power through a mechanical system, or machine, to achieve a desired performance. The word synthesis refers to combining parts to form a whole. Hartenberg and Denavit describe kinematic synthesis as it is design, the creation of something new. Kinematically, it is the conversion of a motion idea into hardware. The earliest machines were designed to amplify human and animal effort, later gear trains and linkage systems captured wind and flowing water to rotate millstones and pumps. Now machines use chemical and electric power to manufacture, transport, and process items of all types. And kinematic synthesis is the collection of techniques for designing those elements of these machines that achieve required output forces and movement for a given input. Applications of kinematic synthesis include determining: the topology and dimensions of a linkage system to achieve a specified task; the size and shape of links of a robot to move parts and apply forces in a specified workspace; the mechanical configuration of end-effectors, or grippers, for robotic systems; the shape of a cam and follower to achieve a desired output movement coordinated with a specified input movement; the shape of gear teeth to ensure a desired coordination of input and output movement; the configuration of a system of gears, belts, and cable, or rope drives, to perform a desired power transmission; the size and shape of fixturing systems to provide precision in part manufacture and component assembly. Kinematic synthesis for a mechanical system is described as having three general phases, known as type synthesis, number synthesis and dimensional synthesis. Type synthesis matches the general characteristics of a mechanical system to the task at hand, selecting from an array of devices such as a cam-follower mechanism, linkage, gear train, a fixture or a robotic system for use in a required task.