Developmentoof a Unified Kinematic Theory of Combination Serial and Parallel Mechanisms

串并联组合机构统一运动学理论的发展

• 批准号: 9004869
• 负责人: Kenneth Waldron
• 金额: --
• 依托单位: Ohio State University Research Foundation -DO NOT USE
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-05-15 至 1993-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9004869&HistoricalAwards=false
• 关键词: Developmentoof; Unified; Kinematic; Theory; Combination

The proposed research addresses forward and inverse position kinematics of mechanical configurations comprising combinations of both serial and parallel chain segments. The intent is to lay the foundations of a general theory which will address issues of controllability and complexity of coordination computations. This research covers a broad class of mechanisms which includes systems as diverse as autonomous planetary rover vehicles and flexible manufacturing systems. The study addresses the implications of different ways of combining serial and parallel substructures for the direct and inverse position and rate kinematics of these mechanism, and for the associated force decomposition characteristics. Many examples of such mechanisms have already been developed and include the multi-fingered hand with multiple independently actuated joints in each finger, a parallel mechanism in an overall sense, but with each limb comprising a serial chain with several actuated joints connected in series. Some study of combined serial and parallel mechanisms has occurred, but the topic is clearly in need of expanded research to provide for a comprehensive theory. The theory should allow designers to make use of combination structures in a manner which will provide improved performance over either purely serial or purely parallel architectures.

拟议的研究涉及由串行和并行链段组合组成的机械配置的正向和反向位置运动学。 目的是为解决协调计算的可控性和复杂性问题奠定通用理论的基础。 这项研究涵盖了广泛的机制，其中包括自主行星漫游车和灵活制造系统等多种系统。 该研究探讨了组合串行和并行子结构的不同方式对这些机构的正向和反向位置和速率运动学以及相关的力分解特性的影响。 这种机构的许多例子已经被开发出来，包括每个手指上具有多个独立致动关节的多指手，总体意义上的并行机构，但每个肢体包括具有串联连接的多个致动关节的串行链。 已经出现了一些组合串行和并行机构的研究，但该主题显然需要扩展研究以提供全面的理论。 该理论应允许设计人员以某种方式使用组合结构，从而比纯串行或纯并行架构提供更高的性能。