Wrench-Based Dimensional Synthesis--Theory and Implementation

本项目开发了一种连杆设计方法，该方法允许直接根据施加或传递的力和力矩的规格确定连杆尺寸。连杆构成了许多机械系统的基础。它们可能具有闭链或开链（机器人）结构，并且可能需要多个执行器同时控制几个独立的自由度。以位置、速度和加速度要求作为确定连杆机构运动学参数的首要标准来设计连杆机构已成为标准做法。与基于位置的设计的首要地位相反，在确定运动几何形状之后，通常次要考虑力，并用于确定致动器或结构和传动部件的尺寸。这项研究发展了基于力的设计理论，允许力和力矩以更直接的方式考虑，在设计过程中比以前更早。除了导致扩展的运动学理论，结果应该导致更有效和优化的设计。总而言之，研究目标如下：给定在空间中指定点应用的指定扳手（力和力矩系统）的要求，开发一个系统的程序来确定给定类型和结构的所有连杆的尺寸，以满足要求。该项目包括五个主题，包括：开链机构匹配扳手规格的尺寸综合、闭环机构匹配扳手规格的尺寸综合、不完全指定的扳手设计（当不需要指定所有六个扳手参数时）、组合运动-扳手约束设计、并设计带有弹簧或动力效应的连杆机构来匹配扳手约束。这项工作将导致机械设计的新方法，补充和增强传统的基于位置的方法。

This project develops a method for the design of linkages which allows for determining the linkage dimensions directly from specifications on the applied or transmitted forces and moments. Linkages form the basis of many mechanical systems. They may have either closed chain or open chain (a robot) configurations, and may require multiple actuators to simultaneously control several independent degrees of freedom. It has become standard practice to design linkages with position, velocity, and acceleration requirements as the foremost criteria in determining linkage kinematic parameters. In contrast to the primacy of position based design, force is usually considered secondarily after the kinematic geometry is determined, and is used to size actuators or structural and transmission members. This research develops the theory for force based design which allows forces and moments to be taken into account in a more direct manner and earlier in the design process than heretofore possible. In addition to leading to an expanded kinematic theory, the results should lead to more efficient and optimized designs. In summary, the research goal is as follows: given a requirement for prescribed wrenches (a system of force and moment) to be applied at prescribed points in space, develop a systematic procedure for determining the dimensions of all linkages of a given type and structure which will satisfy the requirements. The project comprises five topics including dimensional synthesis of open chain linkages to match wrench specifications, dimensional synthesis of closed loop linkages to match wrench specifications, design for incompletely specified wrenches (when not all six wrench parameters need to be specified), design for combined motion-wrench constraints, and design of linkages with springs or dynamic effects to match wrench constraints. This work should lead to new approaches to mechanical design which supplement and enhance traditional position based methods.