Synthesizing force systems for motion time response, input-output forces and joint force control using interactive graphics and influence coefficients
Abstract
"THE PRIMARY OBJECTIVES OF LINKAGE DESIGN: The four design objectives most generally encountered when designing a linkage are: Objective 1: Kinematic, a linkage is geometrically designed to meet kinematic objectives such as rigid body guidance, path generation or function generation. Objective 2: Input-output force, a linkage in conjunction with a system of driving force elements are designed to create specific output forces for desired input forces. Objective 3: Dynamic motion time response, a force system is designed to force the mechanism to move with a desired input motion as a function of time, T2 = f(t). Objective 4: Link internal stresses and bearing forces less than limiting values, link cross section and material properties, and joint bearings are designed to withstand the internal forces within the linkage. Objectives 2 and 3 are frequently derivatives of other design objectives such as: 1) reduction in size of driving motor and gearbox by reducing driving torque fluctuations, and 2) reduction of energy consumption required to operate the linkage. Additional design objectives such as balancing inertial shaking forces, controlling elastic deflections of links, controlling bearing impact forces and noise due to bearing clearances and force direction reversal may be encountered in some, cases.: Design involves two types of synthesis: structural followed by dimensional. Structural synthesis involves selecting the type of linkage (4R-4Bar, slider crank...), force system type (spring, damper...) and between which links to attach the force element. Dimensional synthesis involves determining the numerical values of linkage and force element parameters, and local coordinates of attachment. Structural synthesis is performed so that the linkage system has the possibility of producing the desired motion time response and input-output force prior to performing dimensional synthesis. Structural synthesis is the key to whether a linkage-force system will be capable of satisfactorily meeting the design objectives during dimensional synthesis. Development of structural and dimensional synthesis techniques for attainment of objectives 2, 3 and 4 is the subject of this thesis."--Introduction.
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M.S.
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