A Dynamic Analysis of a Spatial Mechanism With a Passive Degree of Freedom

Suh, C. H.; Kang, Huimin

doi:10.1115/1.3258989

Cited by 5 publications

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The author used here, for the first time, homogeneous transformation matrices which were determined according to an approach presented by Denavit and Hartenberg [2]. As one of the examples, he proposed a dynamic analysis of a two-DOF RSSR classical spatial mechanism containing two one-DOF rotational joints R and two three-DOF spherical joints S. The dynamics of this kind of the mechanism-popular in the technical applications-was also analyzed in later years, among others, by the authors of the publications [3,4].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of a Selected Spatial One-DOF Linkage Mechanism with Friction in Joints

Harlecki¹,

Urbaś²

2016

JCSE

View full text Add to dashboard Cite

Abstract:The dynamic analysis of a one-DOF RSRRR spatial linkage mechanism, including four rotational joints R and one spherical joint S, is presented in the paper. It is assumed that friction occurs in the rotational joints, whereas a spherical joint can be treated as an ideal one. The mechanism in the form of a closed-loop kinematic chain was divided by cut joint technique into two open-loop kinematic chains in place of the spherical joint. Joint coordinates and homogeneous transformation matrices were used to describe the geometry of the system. Equations of the chains" motion were derived using formalism of Lagrange equations. Cut joint constraints and reaction forces, acting in the cutting place-i.e. in the spherical joint, have been introduced to complete the equations of motion. As a consequence, a set of differential-algebraic equations has been obtained. In order to solve these equations, a procedure based on differentiation twice of the formulated constraint equations with respect to time has been applied. In order to determine values of friction torques in the rotational joints in each integrating step of the equations of motion, joint forces and torques were calculated using the recursive Newton-Euler algorithm taken from robotics. For the requirements of the method, a model of a rotational joint has been developed. Some examples of results of the numerical calculations made have been presented in the conclusions of the paper.

show abstract

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis of a Selected Spatial One-DOF Linkage Mechanism with Friction in Joints

Harlecki¹,

Urbaś²

2016

JCSE

View full text Add to dashboard Cite

show abstract

A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots

Yih¹

1991

J. Robotic Syst.

View full text Add to dashboard Cite

A new notation is developed to model and analyze spatial robots. This method is formulated based on the homogeneous cylindrical coordinates and Bryant angles transformation matrices and thus termed “C‐B notation.” At first, shape matrix for a binary link is derived. Then, the characteristic matrices for the five most commonly used kinematic lower pairs—revolute (R), prismatic (P), cylindrical (C), helical (H), and spherical (S)—are formulated. The “exact” joint positions, that is, the actual location of the physical joint center in space, can be defined using this method. The governing kinematic equations for the analysis of spatial robots are derived as well. Finally, the “kinematic spaces” for the open‐chain robot are defined as “the group of space of work (displacement) space, velocity space (the velocity envelope in the displacement differential Vx‐Vy‐Vz coordinates), and acceleration space (the acceleration envelope in the velocity differential Ax‐Ay‐Az coordinates).” Numerical examples for parallel projections of kinematic spaces on both sagittal and frontal planes are illustrated by the industrial Unimate 2000 spherical (SP/RRR) robot, Bendix AA/CNC (RRP/RRR) robot, and 6R Cincinnati Milacron T3 robot.

show abstract

Accelerations in the Ball Joint

Fischer

2013

Mechanics Based Design of Structures and Machines

View full text Add to dashboard Cite

A Dynamic Analysis of a Spatial Mechanism With a Passive Degree of Freedom

Cited by 5 publications

References 0 publications

Dynamic Analysis of a Selected Spatial One-DOF Linkage Mechanism with Friction in Joints

Dynamic Analysis of a Selected Spatial One-DOF Linkage Mechanism with Friction in Joints

A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots

Accelerations in the Ball Joint

Contact Info

Product

Resources

About