Self-locking analysis in closed kinematic chains |
| |
Authors: | Marco Leonesio Giacomo Bianchi |
| |
Affiliation: | aInstitute of Industrial Technology and Automation, National Research Council, Via Bassini, 15, 20133 Milano, Italy |
| |
Abstract: | Self-locking analysis in closed kinematic chains is sometimes likened to kinematic singularity analysis, especially when mechanisms are characterized by more than one degree of freedom. Although in singular configurations a mechanism is obviously locked-up since joint constraint reactions and friction forces rise to infinity, this approach identifies only a condition sufficient for self-locking, while the phenomenon actually occurs in a larger domain, the size of which depends on the values of friction coefficients.The paper proposes a definition of self-locking for multi degrees of freedom mechanisms and presents an algorithm for computing the geometrical locus that corresponds to a specific self-locking configuration. This methodology is then demonstrated on a simple parallel kinematic mechanism with two degrees of freedom. |
| |
Keywords: | Self-locking Friction Closed kinematic chains Kinematic singularity |
本文献已被 ScienceDirect 等数据库收录! |
|