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A general, robust procedure for the kinematic and friction force analysis of single loop, one degree-of-freedom spatial mechanisms.

机译：一种用于单回路运动和摩擦力分析的通用鲁棒程序，一种自由度空间机制。

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摘要

The concepts presented in this dissertation represent a generalized method for the kinematic and friction force analysis of closed single loop, one degree-of-freedom mechanisms using transformation matrix techniques. The technique is very "building block" oriented and amenable to a computer programmable algorithm. A robust means for solving under and overconstrained systems of kinematic equations has been outlined using singular value decomposition. Initial closure of the mechanism loop is done using optimization techniques. Subsequent positions are solved using Newton's method and singular value decomposition. This approach is very useful for mechanisms possessing idle degrees-of-freedom or dead center positions. It also allows "special mobility" mechanisms such as planar mechanisms or maverick mechanisms (like the Bennett mechanism) to be analyzed as general spatial mechanisms. The friction problem is considered using Coulomb friction.;A general, three-dimensional surface contact joint based on transformation matrix techniques was also developed. This is a five degree-of-freedom joint. Both the kinematic and friction force characteristics of this joint have been presented. This joint may be used to model convex surfaces that contact at a single point. The surfaces are described parametrically. Either analytical definitions or piecewise continuous surface patches may be used to describe the contacting surfaces.;Additionally, a friction model for the lower pair spherical joint was developed. This allows the friction characteristics of a spherical joint to be accurately considered. Lower pair equivalents for the spherical joint do not exhibit the same joint bearing forces as the actual "ball and socket" in a spherical joint. This model assumes the spherical joint behaves instantaneously as a revolute joint with an axis along the instant screw axis between the two links joined by the spherical joint. The effective pin radius is a function of the joint bearing forces and the coefficient of friction.
机译：本文提出的概念代表了一种利用变换矩阵技术对闭环单自由度机构进行运动学和摩擦力分析的通用方法。该技术是非常“构建基块”，适用于计算机可编程算法。使用奇异值分解概述了一种用于求解运动方程方程组下和过约束系统的可靠方法。机制循环的初始关闭是使用优化技术完成的。随后的位置使用牛顿法和奇异值分解求解。这种方法对于具有空闲自由度或死点位置的机构非常有用。它还允许将“特殊移动性”机制（例如平面机制或特立独行的机制（例如Bennett机制））分析为一般的空间机制。用库仑摩擦法考虑了摩擦问题。；还开发了一种基于变换矩阵技术的通用三维表面接触接头。这是五自由度关节。已经给出了该接头的运动学特征和摩擦力特征。此关节可用于建模在单个点接触的凸面。参数化地描述表面。可以使用分析定义或分段连续的表面补丁来描述接触表面。此外，开发了下对球形接头的摩擦模型。这允许精确地考虑球形接头的摩擦特性。球形万向节的较低的一对等效物没有表现出与球形万向节中实际的“球窝”相同的关节支承力。该模型假设球形接头的瞬时行为就像是一个旋转接头，其轴线沿着通过球形接头连接的两个链节之间的即时螺杆轴线。有效销钉半径是关节轴承力和摩擦系数的函数。

著录项

  • 作者

    Gutkowski, Lawrence Joseph.;

  • 作者单位

    The Ohio State University.;

  • 授予单位 The Ohio State University.;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 1990
  • 页码 333 p.
  • 总页数 333
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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