Planar Compliance Realization With Two 3-Joint Serial Mechanisms
Planar Compliance Realization With Two 3-Joint Serial Mechanisms
复制标题
通过两个 3 关节串行机构实现平面合规性
DOI：
10.1115/1.4053284
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Schimmels, Joseph M.
中科院分区：
文献类型：
--
作者：
Huang, Shuguang;Schimmels, Joseph M.
本文讨论了用两个3R串联弹性机构实现任意给定平面柔度的问题。利用双弹性机构的概念，它表明，实现与并联连接的两个串联机构的顺应性的行为是等价的，其实现与6弹簧完全并联机构。由于6弹簧并联机构的弹簧轴表示的几何形状的双重3R串联机构，一个新的综合程序实现的刚度矩阵与6弹簧并联机构首先开发。然后，这一结果被扩展到两个三关节串联机构的基于几何构造的综合过程。
In this paper, the realization of any specified planar compliance with two 3R serial elastic mechanisms is addressed. Using the concept of dual elastic mechanisms, it is shown that the realization of a compliant behavior with two serial mechanisms connected in parallel is equivalent to its realization with a 6-spring fully parallel mechanism. Since the spring axes of a 6-spring parallel mechanism indicate the geometry of a dual 3R serial mechanism, a new synthesis procedure for the realization of a stiffness matrix with a 6-spring parallel mechanism is first developed. Then, this result is extended to a geometric construction-based synthesis procedure for two 3-joint serial mechanisms.