Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators
Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators
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基于几何构造的并联和串联机械臂空间弹性行为的实现
DOI：
10.1109/tro.2018.2805315
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发表时间：
2018
影响因子：
7.8
通讯作者：
J. Schimmels
中科院分区：
文献类型：
--
作者：
Shuguang Huang;J. Schimmels
本文讨论了空间弹性行为的实现与并联或串联机械手。机械手（并联或串联）实现特定的弹性行为的必要和充分条件，并解释在机械手的几何形状。这些条件完全将对部件弹性性能的要求与对机构运动学的要求解耦。开发了空间弹性行为的新的基于构造的综合程序。通过这些综合过程，可以根据允许候选者的有限空间的几何形状来选择并联（或串联）机构的每个弹性部件。随着每个弹性组件的选择，允许的候选空间进一步受到限制。对于选择过程的每个阶段，描述了剩余允许空间的几何形状。
This paper addresses the realization of spatial elastic behavior with a parallel or a serial manipulator. Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and interpreted in terms of the manipulator geometry. These conditions completely decouple the requirements on component elastic properties from the requirements on mechanism kinematics. New construction-based synthesis procedures for spatial elastic behaviors are developed. With these synthesis procedures, one can select each elastic component of a parallel (or serial) mechanism based on the geometry of a restricted space of allowable candidates. With each elastic component selected, the space of allowable candidates is further restricted. For each stage of the selection process, the geometry of the remaining allowable space is described.
使用具有指定连杆长度的旋转关节串联机构实现点平面弹性行为
影响因子：
5.2
作者：
Huang, Shuguang;Schimmels, Joseph M.
通讯作者：
Schimmels, Joseph M.