US5253189A
Expired / Lapsed
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Qualitative kinematics
Assignee: Schlumberger Technologies Inc
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Filing: 1989-06-13
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Granted: 1993-10-12
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Expires: 2009-06-13
Abstract
Abstract A method and apparatus for performing kinematic analysis of linkages is disclosed. Generalized mechanisms are selected from a catalog of mechanisms. From an initial selection of mechanisms, the one most closely matching a desired behavior is chosen and an optimization procedure is conducted. The method may be preceded by a qualitative kinematic analysis or the qualitative analysis may be used in lieu of a catalog selection. An improved optimization technique is disclosed, along with a closed form kinematic analysis method.
Inventors
- 👤 Glenn A. Kramer
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 17:18
CPC Classifications
G; G06; G06F; G06F30/00; G06F30/10; G06F30/17; Y; Y10; Y10S; Y10S706/00; Y10S706/902; Y10S706/919; Y10S706/92
Claims Analysis
Total Claims: 39
Claim 1
Independent Claim
96 words
A method of simulating motion of a linkage to trace a path of said linkage with a digital computer comprising the steps of: a) storing a set of propagation rules for a member of said linkage, said propagation rules defining a range of allowed movement in response to a qualitative directional representation of a force applied to an adjacent joint; b) based on said propagation rules, determining a direction of movement of said linkage in response to said qualitative directional representation of a force; and c) displaying said path of said linkage in a video display.
Claim 2
Independent Claim
96 words
A method of simulating motion of a linkage to trace a path of said linkage with a digital computer comprising the steps of: a) storing a set of propagation rules for a member of said linkage, said propagation rules defining a range of allowed movement in response to a qualitative directional representation of a force applied to an adjacent joint; b) based on said propagation rules, determining a direction of movement of said linkage in response to said qualitative directional representation of a force; and c) displaying said path of said linkage in a video display.
Claim 3
Dependent Claim
43 words
The method as recited in claim 1, wherein at least one member of said linkage has at least two restrictions on its direction of movement and said at least one member is assumed to move in a direction satisfying both of said restrictions.
Claim 4
Dependent Claim
28 words
The method as recited in claim 1 further comprising the step of determining a direction of change of at least one angle formed by two of said members.
Claim 5
Dependent Claim
25 words
The method as recited in claim 3 further comprising the step of determining a permitted next state of at least two members of said linkage.
Claim 6
Dependent Claim
33 words
The method as recited in claim 4 further comprising the step of combining permitted next landmark states of members of said linkage to form a set of next states for the entire linkage.
Claim 7
Dependent Claim
20 words
The method as in claim 5 further comprising the step of assembling a series of states to create an envisionment.
Claim 8
Dependent Claim
22 words
The method as recited in claim 6 further comprising the step of removing next states which are not consistent with an envisionment.
Claim 9
Dependent Claim
23 words
The method as recited in claim 7 further comprising the step of using only link length relationships which are consistent with the envisionment.
Claim 10
Dependent Claim
23 words
The method as recited in claim 8 further comprising the step of using said link length relationships as constraints for a numerical analysis.
Claim 11
Dependent Claim
14 words
The method as recited in claim 1, wherein said linkage is a four-bar linkage.
Claim 12
Dependent Claim
14 words
The method as recited in claim 1, wherein said linkage is a planar linkage.
Claim 13
Dependent Claim
14 words
The method as recited in claim 1, wherein said linkage is a spatial linkage.
Claim 14
Dependent Claim
24 words
The method as recited in claim 1 further comprising the step of performing a numerical analysis of said linkage based on said motion analysis.
Claim 15
Dependent Claim
19 words
The method as recited in claim 1, wherein said propagation rules are selected from the group tables and procedures.
Claim 16
Dependent Claim
60 words
The method as recited in claim 14 wherein said member characterizes a direction of a representation of a force on said adjacent joint and directions of movement of said joint in response to said representation of a force in said adjacent joint, said direction defined by a local coordinate system having an axis collinear with a member of said linkage.
Claim 17
Independent Claim
132 words
A method of simulating motion of a linkage to trace a path of said linkage with a programmed digital computer comprising the steps of: a) defining a local coordinate system for each joint of said linkage, said local coordinate system having an axis collinear with a member of said linkage; b) determining a set of propagation rules for said members of said linkage, said propagation rules defining allowed directions of movement based on grounding of adjacent joints and allowed directions of movement in response to forces applied at adjacent joints, said directions defined in said local coordinate systems; c) determining a direction of movement of said linkage in response to a qualitative directional representation of an applied force; and d) displaying said direction of movement of said linkage in a video display.
Claim 18
Independent Claim
132 words
A method of simulating motion of a linkage to trace a path of said linkage with a programmed digital computer comprising the steps of: a) defining a local coordinate system for each joint of said linkage, said local coordinate system having an axis collinear with a member of said linkage; b) determining a set of propagation rules for said members of said linkage, said propagation rules defining allowed directions of movement based on grounding of adjacent joints and allowed directions of movement in response to forces applied at adjacent joints, said directions defined in said local coordinate systems; c) determining a direction of movement of said linkage in response to a qualitative directional representation of an applied force; and d) displaying said direction of movement of said linkage in a video display.
Claim 19
Dependent Claim
114 words
Apparatus for simulating motion of a linkage to trace a path of said linkage comprising: a) a digital computer comprising: i) means for storing a set of propagation rules for at least one member of said linkage, said propagation rules defining a direction of movement of a point of said linkage in response to grounding of an adjacent member and a range of allowed movement of said joint in response to grounding of at least one adjacent joint; and ii) based on said propagation rules, means for determining a movement of said linkage in response to a representative of an applied force; and b) a video display for indicating said movement of said linkage.
Claim 20
Dependent Claim
114 words
Apparatus for simulating motion of a linkage to trace a path of said linkage comprising: a) a digital computer comprising: i) means for storing a set of propagation rules for at least one member of said linkage, said propagation rules defining a direction of movement of a point of said linkage in response to grounding of an adjacent member and a range of allowed movement of said joint in response to grounding of at least one adjacent joint; and ii) based on said propagation rules, means for determining a movement of said linkage in response to a representative of an applied force; and b) a video display for indicating said movement of said linkage.
Claim 21
Dependent Claim
28 words
The apparatus as recited in claim 17, wherein said propagation rules further comprise a range of possible movements in response to a force applied to an adjacent joint.
Claim 22
Dependent Claim
100 words
Apparatus for simulating motion of a linkage to trace a path of said linkage comprising: a) a digital computer comprising: i) means for storing a set of propagation rules for at least one member of said linkage, said propagation rules defining a range of allowed movement in response to a qualitative directional representation of a force applied to an adjacent joint; and ii) based on said propagation rules, means for determining a direction of movement of said linkage in response to said qualitative directional representation of a force; and b) a video display for indicating said movement of said linkage.
Claim 23
Dependent Claim
100 words
Apparatus for simulating motion of a linkage to trace a path of said linkage comprising: a) a digital computer comprising: i) means for storing a set of propagation rules for at least one member of said linkage, said propagation rules defining a range of allowed movement in response to a qualitative directional representation of a force applied to an adjacent joint; and ii) based on said propagation rules, means for determining a direction of movement of said linkage in response to said qualitative directional representation of a force; and b) a video display for indicating said movement of said linkage.
Claim 24
Independent Claim
23 words
The apparatus as recited in claims 17, 19 or 18, wherein said propagation rules comprise a member of the group tables and procedures.
Claim 25
Dependent Claim
60 words
The apparatus as recited in claim 20 wherein said member characterizes a direction of a representation of a force on said adjacent joint and directions of movement of said joint in response to said representation of a force in said adjacent joint, said direction defined by a local coordinate system having an axis collinear with a member of said linkage.
Claim 26
Independent Claim
16 words
The apparatus as recited in claims 17 or 19, wherein said linkage is a four-bar linkage.
Claim 27
Independent Claim
16 words
The apparatus as recited in claims 17 or 19, wherein said linkage is a planar linkage.
Claim 28
Independent Claim
16 words
The apparatus as recited in claims 17 or 19, wherein said linkage is a spatial linkage.
Claim 29
Independent Claim
26 words
The apparatus as recited in claims 17 or 19 wherein the computer comprises a means for performing a detailed numerical analysis based on said motion analysis.
Claim 30
Independent Claim
45 words
The method as recited in claims 17 or 19, wherein at least one member of said linkage has at least two restrictions on its direction of movement and said at least one member is assumed to move in a direction satisfying both of said restrictions.
Claim 31
Independent Claim
22 words
The apparatus as recited in claims 17 or 19 wherein the computer comprises a means for indicating the movement of said linkage.
Claim 32
Dependent Claim
21 words
The apparatus as recited in claim 27, wherein the computer comprises a means for displaying said movement on a video display.
Claim 33
Independent Claim
32 words
The apparatus as recited in claims 19 or 18 wherein the computer comprises a means for determining a direction of change of at least one angle formed by two of said members.
Claim 34
Dependent Claim
27 words
The apparatus as recited in claim 29 wherein the computer comprises a means for determining a permitted next state of at least two members of said linkage.
Claim 35
Dependent Claim
34 words
The apparatus as recited in claim 30 wherein the computer comprises a means for combining permitted next states of members of said linkage to form a set of next states for the entire linkage.
Claim 36
Dependent Claim
22 words
The apparatus as in claim 31 wherein the computer comprises a means for assembling a series of states to create an envisionment.
Claim 37
Dependent Claim
24 words
The apparatus as recited in claim 32 wherein the computer comprises a means for removing next states which are not consistent with an envisionment.
Claim 38
Dependent Claim
25 words
The apparatus as recited in claim 33 wherein the computer comprises a means for using only link length relationships which are consistent with the envisionment.
Claim 39
Dependent Claim
25 words
The apparatus as recited in claim 34 wherein the computer comprises a means for using said link length relationships as constraints for a numerical analysis.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-10-11 | 1997-04-12 | 1997-10-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-10-11 | 2001-04-12 | 2001-10-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-10-11 | 2005-04-12 | 2005-10-12 | $7700.00 | Window Closed / Lapsed |