Synthesis of Point Planar Elastic Behaviors Using Three-Joint Serial Mechanisms of Specified Construction
Synthesis of Point Planar Elastic Behaviors Using Three-Joint Serial Mechanisms of Specified Construction
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DOI：
10.1115/1.4035189
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发表时间：
2017-02
期刊：
影响因子：
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通讯作者：
Shuguang Huang;J. Schimmels
中科院分区：
文献类型：
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作者：
Shuguang Huang;J. Schimmels
本文介绍了使用具有三个关节的串行机制来实现2 2 2 2转化合规性矩阵的方法，每个机制均可为revolute或Prismatic且每个关节都具有可选的合规性。机理的几何形状和相对于机理库的合规框架的位置是任意的，但指定。获得了实现给定机制的必要条件，以实现给定的机制。我们表明，对于具有至少一个Revolute关节的适当构建的序列机制，可以通过正确选择关节合规和机制配置来实现任何单个2 2合规矩阵。对于每种类型的三关节组合，仅通过更改机制配置和关节符合条件，可以确定对冗余机理几何形状的要求，以实现给定位置的每个点平面弹性行为。 [doi：10.1115/1.4035189]
This paper presents methods for the realization of 2 2 translational compliance matrices using serial mechanisms having three joints, each either revolute or prismatic and each with selectable compliance. The geometry of the mechanism and the location of the compliance frame relative to the mechanism base are each arbitrary but specified. Necessary and sufficient conditions for the realization of a given compliance with a given mechanism are obtained. We show that, for an appropriately constructed serial mechanism having at least one revolute joint, any single 2 2 compliance matrix can be realized by properly choosing the joint compliances and the mechanism configuration. For each type of three-joint combination, requirements on the redundant mechanism geometry are identified for the realization of every point planar elastic behavior at a given location, just by changing the mechanism configuration and the joint compliances. [DOI: 10.1115/1.4035189]