Geometric construction-based realization of planar elastic behaviors with parallel and serial manipulators
Geometric construction-based realization of planar elastic behaviors with parallel and serial manipulators
复制标题
基于几何构造的并联和串联机械臂平面弹性行为的实现
DOI：
10.1115/1.4037019
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
J. Schimmels
中科院分区：
文献类型：
--
作者：
Shuguang Huang;J. Schimmels
本文讨论了用并联机械手或串联机械手被动实现任意选定的平面弹性行为。给出了机构被动实现弹性行为的充要条件。这些条件使对构件弹性性能的要求与对机构运动学的要求完全分离。根据可实现的弹性行为中心的可接受位置来描述对可用机构实现的一组弹性行为的限制。描述了实现相同弹性行为的并-串联机构副(双弹性机构)。发展了基于结构的平面弹性行为综合新方法。使用这些程序，人们可以从运动学上允许的候选对象的有限空间中选择每个弹性构件的几何形状。每次选择时，空间都会受到进一步的限制，直到达到所需的弹性行为。
This paper addresses the passive realization of any selected planar elastic behavior with a parallel or a serial manipulator. Sets of necessary and sufficient conditions for a mechanism to passively realize an elastic behavior are presented. These conditions completely decouple the requirements on component elastic properties from the requirements on mechanism kinematics. The restrictions on the set of elastic behaviors that can be realized with a mechanism are described in terms of acceptable locations of realizable elastic behavior centers. Parallel–serial mechanism pairs that realize identical elastic behaviors (dual elastic mechanisms) are described. New construction-based synthesis procedures for planar elastic behaviors are developed. Using these procedures, one can select the geometry of each elastic component from a restricted space of kinematically allowable candidates. With each selection, the space is further restricted until the desired elastic behavior is achieved.
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.