Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths
Compliance Realization With Planar Serial Mechanisms Having Fixed Link Lengths
复制标题
使用具有固定链路长度的平面串行机制实现合规性
DOI：
10.1115/1.4053819
复制
发表时间：
2022
影响因子：
3.3
通讯作者：
Schimmels, Joseph M.
中科院分区：
文献类型：
--
作者：
Huang, Shuguang;Schimmels, Joseph M.
在这篇文章中，任何指定的平面符合一系列的弹性机构具有预先确定的链接长度的合成是解决。对于一般的n关节串联机构，容易评估的必要条件，为实现给定的遵守关节位置。提出了基于几何构造的具有运动冗余固定杆长的五关节和六关节串联机构综合方法。通过使用这些程序，一个给定的串行操作器可以实现一个大的不同的顺应性行为，通过使用变刚度驱动和调整机构配置。
In this article, the synthesis of any specified planar compliance with a serial elastic mechanism having previously determined link lengths is addressed. For a general n-joint serial mechanism, easily assessed necessary conditions on joint locations for the realization of a given compliance are identified. Geometric construction-based synthesis procedures for five-joint and six-joint serial mechanisms having kinematically redundant fixed link lengths are developed. By using these procedures, a given serial manipulator can achieve a large set of different compliant behaviors by using variable stiffness actuation and by adjusting the mechanism configuration.