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首页> 外文期刊>Journal of robotic systems >Realization of Those Elastic Behaviors That Have Compliant Axes in Compact Elastic Mechanisms
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Realization of Those Elastic Behaviors That Have Compliant Axes in Compact Elastic Mechanisms

机译：在紧凑型弹性机构中具有轴的那些弹性行为的实现

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摘要

In this article, we address the synthesis and realization of a subset of spatial elastic behaviors, those with compliant axes, in compact parallel mechanisms. Using the procedures developed, a geometric description of the layout of a compact mechanism of springs connected in parallel is obtained. In each of these mechanisms, each spring axis is restricted to intersect a single point in space. The variation in the orientation of the intersecting spring axes is also restricted. The degree of restriction in axis orientation is determined by the number of "compliant axes" associated with the specified elastic behavior. Also, as part of this work, a physical appreciation of the different classes of stiffnesses that have compliant axes is identified and interpreted in different types of concurrent parallel mechanisms.
机译：在本文中，我们讨论了在紧凑的并行机制中空间弹性行为的子集（具有顺应性轴）的合成和实现。使用所开发的程序，可以获得并联连接的弹簧的紧凑机构的布局的几何描述。在这些机构中的每一个中，每个弹簧轴线被限制为与空间中的单个点相交。交叉弹簧轴的方向变化也受到限制。轴方向上的限制程度由与指定的弹性行为关联的“柔顺轴”的数量确定。同样，作为这项工作的一部分，在不同类型的并行并行机制中，将识别并解释具有顺应性轴的不同类别的刚度的物理欣赏。

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