%0 Journal Article
%T Generalized Robust Systems-Based Theoretical Kinematic Inverse/Regular Wedge Cam Theory for Three-Point Diametral Self-Centering Motion
%A Shawn P. Guillory
%A Alan A. Barhorst
%A Jim Lee
%A Raju Gottumukkala
%A Jonathan R. Raush
%A Terrence L. Chambers
%J Journal of Applied Mathematics and Physics
%P 729-796
%@ 2327-4379
%D 2025
%I Scientific Research Publishing
%R 10.4236/jamp.2025.133040
%X Generalized robust systems-based theoretical kinematic inverse/regular wedge cam procedures which produce self-centering motion applicable to three-point clamping device design about cylindrical workpieces that vary within a prescribed size range are presented. Within such presentment, various parametric (trigonometric, combined loop closure with vector projection/resolution, transformation) and rectangular form (Taylor series approximation, trigonometric substitution & transformation (TS&T), nonlinear ODE) equation methods along with related statics and dynamics are explored. In connection, a simulated unified resultant amplitude method (URAM) is applied for generalization purposes. Moreover, the theoretical framework is validated within the context of a computer-generated model of a mechanism design which demonstrates self-centering over the prescribed design range with negligible to zero error. Furthermore, the static and dynamic analyses are verified through computer-aided engineering simulation in conjunction with equilibrium equations and a consideration of various calculus principles. Consequently, the self-centering theoretical formulation coupled with static and dynamic analyses provide for an accurate and generalized quantitative model couched within a holistic systems engineering framework which can be useful for providing state-of-the-art engineering and design optimization of various parameters for developing new and/or improved self-centering gripping devices of the inverse/regular wedge cam type.
%K Self-Centering Wedge Cam
%K Robotic End Effector
%K Gripper Device
%K Design Optimization
%K Unified Resultant Amplitude Method
%K Nonlinear ODE
%U http://www.scirp.org/journal/PaperInformation.aspx?PaperID=141322