A Method for Representing the Configuration and Analyzing the Motion of Complex Cable-Pulley Systems
A Method for Representing the Configuration and Analyzing the Motion of Complex Cable-Pulley Systems
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DOI：
10.1115/1.1564062
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发表时间：
2003-06
影响因子：
3.3
通讯作者：
D. Hong;R. Cipra
中科院分区：
文献类型：
--
作者：
D. Hong;R. Cipra
本文提出了一种表示复杂缆绳滑轮机构配置的系统方法以及分析其运动的方法。该技术也可用作合成的辅助手段。正在考虑的缆绳滑轮系统模型是平面的，由滑轮、滑轮和缆绳三个基本元素组成。配置表用于通过系统地定义缆索、滑轮和滑轮之间的连接来识别约束方程。基本策略是使用约束方程来生成每个变量与识别为输入的变量子集之间的关系。约束方程组上的行缩减过程识别输入的数量并最终生成每个变量与输入的关系。通过简单的列交换过程可以轻松获得不同输入变量的结果。给出了示例来说明该过程。
In this paper a systematic way of representing complex cable-pulley mechanism configurations and a method to analyze their motion is presented. This technique can also be used as an aid for synthesis. The cable-pulley system model that is being considered is planar and composed of three basic elements which are pulleys, blocks, and cables. A configuration table is used to identify the constraint equations by systematically defining the connections between the cables, pulleys, and blocks. The basic strategy is to use the constraint equations to generate the relationship between each variable and a subset of the variables identified as the inputs. A row reduction process on the system of constrainst equations identifies the number of inputs and ultimately generates the relationships of each variable to the input(s). Results with different input variables can be easily obtained by a simple column interchange process. Examples are given to illustrate the procedure.