A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
复制标题
平面 N 杆机构近似位置分析的统一实时运动生成算法
DOI：
10.1115/1.4064132
复制
发表时间：
2024
影响因子：
3.3
通讯作者：
Liao, Wei
中科院分区：
文献类型：
--
作者：
Lyu, Zhijie;Purwar, Anurag;Liao, Wei
本文提出了一种新的平面n杆连杆机构的实时运动学仿真算法，该机构包括单自由度和多自由度的平面n杆连杆机构，包括转动和/或移动关节和执行机构。该算法的一个关键特点是采用了一种重新解释技术，将棱柱形元素转换为旋转关节和连杆的组合。这就产生了一个统一的几何约束系统和一个适应机构复杂性的通用求解器。求解器只需要两种方法——快速二进分解和相对较慢的基于优化的方法——就可以模拟所有类型的平面机构。从实现的角度来看，该算法简化了编程，而不需要处理不同类型的机制。这种通用算法可以处理具有不同自由度和关节类型的串行、并行和混合平面机构。此外，本文提出了模拟时间和结构复杂性的估计，揭示了计算需求。实例说明了该方法的实用性。
This paper presents a novel real-time kinematic simulation algorithm for planar N-bar linkage mechanisms, both single-and multi-degrees-of-freedom, comprising revolute and/or prismatic joints and actuators. A key feature of this algorithm is a reinterpretation technique that transforms prismatic elements into a combination of revolute joint and links. This gives rise to a unified system of geometric constraints and a general-purpose solver which adapts to the complexity of the mechanism. The solver requires only two types of methods—fast dyadic decomposition and relatively slower optimization-based—to simulate all types of planar mechanisms. From an implementation point of view, this algorithm simplifies programming without requiring handling of different types of mechanisms. This versatile algorithm can handle serial, parallel, and hybrid planar mechanisms with varying degrees-of-freedom and joint types. Additionally, this paper presents an estimation of simulation time and structural complexity, shedding light on computational demands. Demonstrative examples showcase the practicality of this method.