Wrench-Based Dimensional Synthesis--Theory and Implementation

基于扳手的维度综合——理论与实现

• 批准号: 8905583
• 负责人: Bernard Roth
• 金额: $ 24.48万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-09-01 至 1993-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8905583&HistoricalAwards=false
• 关键词: Wrench; Based; Dimensional; Synthesis; Theory

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.

该项目开发了一种连杆设计方法，可以直接根据施加或传递的力和力矩的规格确定连杆尺寸。 联动装置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）配置，并且可能需要多个执行器来同时控制多个独立的自由度。 将位置、速度和加速度要求作为确定连杆运动参数的首要标准来设计连杆已成为标准做法。 与基于位置的设计的首要地位相比，在确定运动几何形状之后，力通常被视为次要因素，并用于确定执行器或结构和传动构件的尺寸。 这项研究发展了基于力的设计理论，该理论允许在设计过程中以更直接的方式、更早地考虑力和力矩。 除了扩展运动学理论之外，研究结果还应带来更高效和优化的设计。 总之，研究目标如下：考虑到在空间中指定点应用规定扳手（力和力矩系统）的要求，开发一个系统程序来确定满足要求的给定类型和结构的所有连杆的尺寸。 该项目包括五个主题，包括匹配扳手规格的开链连杆的尺寸合成、匹配扳手规格的闭环连杆的尺寸合成、不完全指定的扳手的设计（当不需要指定所有六个扳手参数时）、组合运动扳手约束的设计以及带有弹簧或动态效应的连杆的设计以匹配扳手约束。 这项工作应该会带来新的机械设计方法，补充和增强传统的基于位置的方法。