A General Static Torque Constraint for Spatial Four-Bar Motion Generation With a Coupler Load-Reference-Cited by-同舟云学术

A General Static Torque Constraint for Spatial Four-Bar Motion Generation With a Coupler Load

Published:2010-09-30 Issue:4 Volume:2 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Russell Kevin¹,Shen Qiong²

Affiliation:

1. Armament Engineering and Technology Center, U.S. Army Research Development and Engineering Center, Picatinny, NJ 07806

2. Power Control System Engineering, ASCO Power Technologies, Florham Park, NJ 07932

Abstract

A general static torque constraint for spatial four-bar mechanisms with coupler forces is formulated in this work. With this constraint, the user can synthesize spatial four-bar motion generators that also support static coupler loads. This constraint is demonstrated in the synthesis of RRSS, SSRC, and 4R spherical motion generators to approximate prescribed coupler poses and do so within maximum specified driver torques for given coupler forces.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4002514/5813738/044502_1.pdf

Reference12 articles.

1. Kinematic Synthesis of Adjustable Spatial RRSS Mechanisms for Multi-Phase Motion Generation;Russell;Mech. Mach. Theory

2. Kinematic Synthesis of RRSC Mechanisms for Multi-Phase Finite and Multiply-Separated Positions;Russell;Trans. Can. Soc. Mech. Eng.

3. Kinematic Synthesis of Adjustable RSSR-SS Mechanisms for Multi-Phase Finite and Multiply-Separated Positions;Russell;ASME J. Mech. Des.

4. Design of Adjustable RSSR-SC Mechanisms for Multi-Phase Motion Generation;Russell;JSME Int. J., Ser. C

5. Dimensional Synthesis of Closed-Loop Linkages to Match Force and Position Specifications;Huang;ASME J. Mech. Des.