Volume 5B: 43rd Mechanisms and Robotics Conference最新文献_第2页

Synthesis of Stephenson III Timed Curve Generators Using a Probabilistic Continuation Method 用概率延拓法合成Stephenson III时间曲线发生器

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98136

A. Baskar, Mark M. Plecnik

{"title":"Synthesis of Stephenson III Timed Curve Generators Using a Probabilistic Continuation Method","authors":"A. Baskar, Mark M. Plecnik","doi":"10.1115/detc2019-98136","DOIUrl":"https://doi.org/10.1115/detc2019-98136","url":null,"abstract":"\u0000 The kinematic synthesis equations of fairly simple planar linkage topologies are vastly nonlinear. This indicates that a large number of solutions exist, and hence a large number of design candidates might be present. Recent algorithms based in polynomial homotopy continuation have enabled the computation of entire solution sets that were previously not possible. These algorithms are based on a technique that stochastically accumulates finite roots and guarantees the exclusion of infinite roots. Here we apply the Cyclic Coefficient Parameter Continuation (CCPC) method to obtain for the first time the complete solution of a Stephenson III six-bar that traces a path and coordinates the angle of its input link along that path. Linkages of this type, called timed curve generators, are particularly useful for controlling the motion of an end effector point and influencing its transmission properties from a rotary input. For a numerically general version of the synthesis equations, we computed an approximately complete set of 1,017,708 solutions that divides into subsets of four according to the Stephenson III cognate structure. This numerically generic solution set essentially represents a design tool. It can be used in conjunction with a parameter homotopy to efficiently obtain all isolated roots of other systems of this same structure that correspond to a specific synthesis task. This is demonstrated with two example synthesis tasks.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116353000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Deflection Maps of Elastic Catenary Cable-Driven Robots 弹性悬链线缆索驱动机器人的挠度图

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97083

L. Notash

引用次数: 2

Characteristics of Self-Deployment in Origami-Based Systems 基于折纸的系统中自展开的特征

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98126

Mary E. Wilson, S. Magleby, L. Howell, A. Bowden

{"title":"Characteristics of Self-Deployment in Origami-Based Systems","authors":"Mary E. Wilson, S. Magleby, L. Howell, A. Bowden","doi":"10.1115/detc2019-98126","DOIUrl":"https://doi.org/10.1115/detc2019-98126","url":null,"abstract":"\u0000 The potential of compliant mechanisms and related origami-based mechanical systems to store strain energy make them ideal candidates for applications requiring an actuation or deployment process, such as space system arrays, minimally invasive surgical devices and deployable barriers. Many origami structures can be thought of as a compliant mechanism because, like compliant mechanisms, its function is performed through the elastic deformation of its members. This stored strain energy could prove useful. There are opportunities using strain energy to develop approaches to deploy particular mechanical systems. In order to better understand the principles of self-actuation and promote the designs of such systems, a taxonomy of deployable origami mechanisms is presented. This taxonomy demonstrates that there are several different types of deployable origami mechanisms and provides an organizational method to better understand the design space. Characteristics of self deployment in concentrated, deployable origami strain energy mechanisms with internal actuation are identified and examples of strain energy based deployment are provided.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131205856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Thick Folding Through Regionally-Sandwiched Compliant Sheets 厚折叠通过区域夹心柔性片

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97899

Jared Butler, Nathan A. Pehrson, S. Magleby

引用次数: 1

In-Plane Compressive Strength Analysis of Novel Folded Honeycomb Material 新型折叠蜂窝材料面内抗压强度分析

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97821

Ma Ruijun, Jianguo Cai, Yutao Wang, Jian Feng

引用次数: 0

Topology Optimization of Cable-Actuated, Shape-Changing, Tensegrity Systems for Path Generation 用于路径生成的索驱动、变形、张拉整体系统的拓扑优化

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97367

D. Myszka, J. Joo, D. C. Woods, A. Murray

引用次数: 2

Geometric Simulation for Thick Origami 厚折纸的几何模拟

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97094

Tsz-Ho Kwok

引用次数: 1

Integrated Origami-String System 集成折纸-弦系统

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97486

Ke Liu, Madelyn Kosednar, Tomohiro Tachi, G. Paulino

引用次数: 0

Analysis of Static and Dynamic Behavior of Thick-Walled PALEO Elements 古厚壁构件的静动力特性分析

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97155

Y. Klett, Fabian Muhs, P. Middendorf

引用次数: 1

Coupled Origami Tubes for Stiff Deployable Cantilevers 刚性可展开悬臂梁的耦合折纸管

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97096

E. Filipov, T. Tachi, G. Paulino

{"title":"Coupled Origami Tubes for Stiff Deployable Cantilevers","authors":"E. Filipov, T. Tachi, G. Paulino","doi":"10.1115/detc2019-97096","DOIUrl":"https://doi.org/10.1115/detc2019-97096","url":null,"abstract":"\u0000 Thin sheets folded into three dimensional origami structures can be useful in various engineering applications. This work explores the stiffness of deployable origami tubes used as cantilevers. A unique “zipper” configuration is used to couple the tubes, which makes the systems easy to deploy, yet stiff for other deformation modes. The self-restricting geometry of the coupled tubes limits local deformations and makes the systems stiff for out-of-plane loading. The global deployment characteristics are explored using eigenvalue band-gaps, and indicate that tubes with lower sector angles are easy to deploy yet also stiffer for unintended motions. Cantilever analyses show that the geometry of the coupled tubes can significantly affect the stiffness, with some tube combinations having a high orthogonal stiffness throughout deployment, while others only having a high stiffness when fully deployed. Parametric studies are used to show optimal geometries for the coupled tubes that maximize the eigenvalue band-gaps and the stiffness throughout the deployment. The coupled tubes could serve applications such as adjustable robotic arms, and deployable space booms with a reliable extension sequence.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131140479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2