Synthesizing any specified elastic behavior with a hybrid connection of simple compliant components
Synthesizing any specified elastic behavior with a hybrid connection of simple compliant components
复制标题
通过简单兼容组件的混合连接来综合任何指定的弹性行为
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
T. A. Shirey
中科院分区：
文献类型：
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作者：
R. Roberts;T. A. Shirey
在应用机器人技术在制造任务中的应用中，实现足够的力控制是一个重要的问题。解决此问题的一种方法是使用被动合规性。已经提出了许多方法来设计使用弹性设备的平行或串行连接的被规定的空间刚度或合规矩阵的被动合规机理。如果空间刚度或符合性矩阵是各向同性的，则组成弹性设备很简单，因为它们是严格的翻译或旋转的。非异分刚度和依从性矩阵需要使用稍微翻译和旋转的弹性螺钉设备。这些螺丝器件的性质比对各向同性情况的简单弹性设备的性质更为复杂。在本文中，作者演示了如何使用仅由简单的弹性设备组成的并行和串行配置的混合连接来消除这些螺丝设备。该方法可用于实现任何规定的非偏性刚度或依从性矩阵。
Achieving adequate force control is an important problem in the application of robotics technology to manufacturing tasks. One approach to this problem is the use of passive compliance. A number of methods have been proposed for designing a passive compliance mechanism with a prescribed spatial stiffness or compliance matrix using a parallel or serial connection of elastic devices. If the spatial stiffness or compliance matrix is isotropic, the constituent elastic devices are simple in the sense that they are strictly translational or rotational. Non-isotropic stiffness and compliance matrices require the use of elastic screw devices that couple translation and rotation. These screw devices are of a more complicated nature than the simple elastic devices that are sufficient for the isotropic case. In this article the authors demonstrate how these screw devices can be eliminated by using a hybrid connection of parallel and serial configurations consisting of only simple elastic devices. This method can be used to achieve any prescribed non-isotropic stiffness or compliance matrix.