Hostname: page-component-8448b6f56d-wq2xx Total loading time: 0 Render date: 2024-04-18T20:10:34.379Z Has data issue: false hasContentIssue false
  • English
  • Français

Mechanical models and the mobility of robots and mechanisms

Published online by Cambridge University Press:  13 February 2014

Doru Talabă
Doru Talabă*
Affiliation:
Transilvania University of Brasov, 29, Eroilor, 500036 Brasov, Romania
*
*Corresponding author. E-mail: talaba@unitbv.ro
Get access Rights & Permissions [Opens in a new window]

Summary

Mobility is a fundamental parameter of mechanisms expressing in a qualitative manner their kinematic and dynamic properties. The mobility formulae presented in literature take into consideration some of the structural entities, such as bodies, joints, constraints, closed loops, and space characteristics; however, the specific mechanical model that has traditionally been at the origin of the mobility criteria themselves is incompletely specified and, even then, only implicitly. In this paper, we propose a classification of the mobility criteria based on the known dynamic models. While all known mobility criteria have been associated with a specific dynamic model, some particular, less used dynamic models (like natural coordinates and multi-particle models) suggested new mobility criteria models. The associated mechanical model for each category of mobility criteria allows a qualitative assessment of the kinematic and dynamic sets of equations to be formulated in later stages of analysis. A simple multi-loop mechanism is taken as an example just to illustrate the mobility calculation and qualitative assessment of the kinematic and dynamic models in each case. Based on the proposed classification of the mobility formulae, an assessment is made with particular regard to their applicability to overconstrained mechanisms.

Keywords

MobilityMulti-body systemMechanismKinematic chain
Type
Articles
Information
Robotica , Volume 33 , Issue 1 , January 2015 , pp. 181 - 193
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Alexandru, P., Vişa, I. and Talabă, D., “Utilization of the Cartesian Coordinates for the Linkages Study,” The Romanian Symposium on Mechanisms and Machine Theory (MTM `88), vol. I, Cluj-Napoca, Romanian (1988) pp. 1–10.Google Scholar
2.Gogu, G., “Mobility of mechanism: a critical review,” Mech. Mach. Theory 40, 1068–1097 (2005).Google Scholar
3.Assur, L. P., “Research of plane mechanisms with articulated bars,” Bulletin of Politechnic Institute of Petrograd, XX–XXVII, 1913–1918.Google Scholar
4.Müller, A., “Generic mobility of rigid body mechanisms,” Mech. Mach. Theory 44, 1240–1255 (2009).CrossRefGoogle Scholar
5.Hervé, J. M., “Analyse Structurelle des Mécanismes par Groupe des Déplacements,” Mech. Mach. Theory 13, 437–450 (1978).Google Scholar
6.Hervé, J.M., “Intrinsic formulation of problems of geometry and kinematics of mechanisms,” Mech. Mach. Theory 17 (3), 179–184 (1982).Google Scholar
7.Jalon, J. G. and Bayo, E., Kinematic and Dynamic Simulation of Multi-body Systems–-The Real Time Challenge (Springer-Verlag, New York, 1994).Google Scholar
8.Talabă, D. and Antonya, C., “The Multi-Particle System (MPS) Model as a Tool for Simulation of Mechanisms with Rigid and Elastic Bodies,” Proceedings Of The 3th International Symposium on Multi-Body Dynamics: Monitoring and Simulation Techniques, Loughborough (2004) pp. 111–119.Google Scholar
9.Schiehlen, W. O., Multi-body Systems Handbook (Springer Verlag, Berlin, New York, 1990).Google Scholar
10.Freudenstein, F. and Alizade, R., “On the Degree-of-Freedom of Mechanisms with Variable General Constraint,” Fourth World Congress on the Theory of Machines and Mechanisms, Newcastle upon Tyne (1975).Google Scholar
11.Talabă, D., Antonya Cs. Dynamic Models In Multi-Body Systems: A Product Life Cycle Key Technology. In Product Engineering, Eco-Design Technologies And Green Energies (Springer, 2004) pp. 227–252, ISBN 1-4020-2932-2.Google Scholar
12.Pisla, D., Gherman, B., Vaida, C. and Plitea, N., “Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery,” Robotica 30 (2012) pp. 1095–1107. doi:10.1017/S0263574711001299.Google Scholar
13.Pisla, D.et al., “Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses,” Robot. Comput.-Integr. Manuf. (2011), doi.org/10.1016/j.rcim.2011.11.003.Google Scholar
14.Mogan, G., “Aspects Concerning Calculus of Forces, Efficiency, Deformation and Stiffness of Ball Screw with Preloaded Double Nuts,” The Egth IFToMM International Symposium on Theory of Machines and Mechanisms, Bucharest, Vol. III (2001) pp. 285–290.Google Scholar
15.Mogan, G., “Geometric Model of One-Way Clutches,” 2nd International Conference RaDMI, Vranja Banja, Serbia (2002) pp. 967–971.Google Scholar