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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Forward dynamics of variable topology mechanismsThe case of constraint activation
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Forward dynamics of variable topology mechanismsThe case of constraint activation

机译：可变拓扑机制的前向动力学约束激活的情况

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摘要

Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is becoming an important issue in human-machine interaction. Anticipating the dynamic behavior of variable topology mechanisms requires solving a nonsmooth dynamic problem. The core challenge is a physically meaningful transition condition at the topology switching events. Such a condition is presented in this article. Two versions are reported, one using projected motion equations in terms of redundant coordinates, and another one using the Voronets equations in terms of minimal coordinates. Their computational properties are discussed. Results are shown for joint locking of a planar 3R mechanisms and a 6DOF industrial manipulator.
机译：许多机械系统的运动拓扑都发生了变化，从而改变了运动性。理想的接触是最众所周知的原因，但是机械部件的粘滞和受控锁定也会导致拓扑结构变化。后者正在成为人机交互中的重要问题。预期可变拓扑机制的动态行为需要解决不平滑的动态问题。核心挑战是拓扑切换事件时在物理上有意义的过渡条件。本文介绍了这种情况。报告了两种版本，一种使用冗余坐标方面的投影运动方程，另一种使用最小坐标方面的Voronets方程。讨论了它们的计算特性。显示了平面3R机构和6DOF工业机械手的联合锁定结果。

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