Wrench-Based Dimensional Synthesis--Theory and Implementation

该项目开发了一种用于设计连杆的方法， 允许直接从 施加或传递的力和力矩的规格。 连杆机构是许多机械系统的基础。 他们可能有 封闭链或开放链（机器人）配置，并且可以 需要多个致动器来同时控制多个 独立的自由度。 这已经成为标准做法 设计具有位置、速度和加速度的联动装置 要求作为确定联系的首要标准 运动学参数 与基于职位的首要地位相比， 在设计中，力通常被放在运动学之后考虑。 确定几何形状，并用于确定致动器或结构的尺寸。 和传动部件。 这项研究发展了理论， 基于力的设计，允许将力和力矩考虑在内， 在设计过程中更早地以更直接的方式说明 比以往任何时候都多。 除了导致扩大的 运动学理论，结果应该导致更有效， 优化设计。 综上所述，本文的研究目标如下： 给定规定扳手的要求（力和 时刻）应用于空间中的规定点，开发一个 确定所有联系的尺度的系统程序 满足要求的给定类型和结构。 该项目包括五个主题， 与扳手规格、尺寸相匹配的开式链节 合成闭环连杆以匹配扳手规格， 设计用于不完全指定的扳手（当不是所有六个扳手时 参数需要指定），组合运动扳手的设计 约束，以及带弹簧或动态效应的连杆设计 以匹配扳手约束。 这项工作将导致新的 机械设计的方法，补充和提高 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.