Dynamic model of multi-DOF spherical mechanisms based on instantaneous pole axes

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-06-04 DOI:10.1016/j.mechmachtheory.2025.106090

Raffaele Di Gregorio

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引用次数: 0

Abstract

Spherical mechanisms have the peculiarity that a point (spherical motion center (SMC)) is at rest with respect to all the links. This feature makes the links perform only rotations around axes (instantaneous pole axes (IPAs)) passing through the SMC. IPAs’ locations fully describe their instantaneous kinematics and, in single-DOF mechanisms, uniquely depend on the mechanism configuration. In multi-DOF spherical mechanisms, IPAs’ locations are determinable by considering the single-DOF mechanisms generated from the multi-DOF ones by locking all the actuated joints but one. Exhaustive analytic/geometric techniques that determine all the IPAs’ locations of single-DOF spherical mechanisms by using only their configuration data are present in the literature. Here, a dynamic model of multi-DOF spherical mechanisms, which is general and strictly relates dynamic behavior and IPAs’ locations, is deduced by exploiting these results. This novel model can consider also possible frame motions. The proposed formulation lends itself better than others to satisfy dynamic requirements during mechanism design. Eventually, a relevant case study illustrates its effectiveness.

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基于瞬极轴的多自由度球面机构动力学模型

球面机构具有一个点（球面运动中心）相对于所有连杆处于静止状态的特性。这个特性使得链路只围绕通过SMC的轴（瞬时极轴（IPAs））进行旋转。IPAs的位置完全描述了它们的瞬时运动学，并且在单自由度机构中，唯一地依赖于机构结构。在多自由度球面机构中，通过锁定除一个外的所有作动关节，考虑由多自由度机构生成的单自由度机构来确定IPAs的位置。详尽的分析/几何技术，确定所有的单自由度球面机构的IPAs的位置，只使用他们的配置数据存在于文献中。在此基础上，推导出了多自由度球面机构的动力学模型，该模型的动力学行为与目标点位置之间具有一般的严格关系。该模型还可以考虑可能的坐标系运动。所提出的公式比其他公式更能满足机构设计中的动态要求。最后，通过相关案例分析说明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry