In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidim...In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, in which each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed with revolute joints. In this paper, the effects of fingertip rotation and a revolute joint spring model are investigated. A grasp stiffness matrix is analytically derived by considering not only frictional rolling contact but also frictionless sliding contact. The difl＇erence between the frictional stiffness matrix and the frictionless one is analytically obtained. The effect of local curvature at contact points is analytically derived. The grasp displacement directions affected by the change in curvature and the contact condition are also obtained. The derived stiffness matrix of the revolute joint model is compared with that of the prismatic joint model, and then the stiffness relation is clarified. The gravity effect of the object is also considered. The effectiveness of our method is demonstrated through numerical examples. The stability is evaluated by the eigenvalues of the grasp stiffness matrix, and the grasp displacement direction is obtained by the corresponding eigenvectors. The effect of joint angle is also discussed.展开更多
Compliant mechanisms transfer an input force or displacement to another point through elastic body deformation. The field of compliant mechanisms is expected to continue to grow as materials with superior properties a...Compliant mechanisms transfer an input force or displacement to another point through elastic body deformation. The field of compliant mechanisms is expected to continue to grow as materials with superior properties are developed. The paper takes into consideration some typical spring guiding systems, being able to realize translating planar displacement of the link. Some types of compound spring guiding systems, such as S-shaped guiding spring system, U-shaped guiding spring system and four spring guiding system with additional rigid-body link have been considered and analyzed as compliant structures. The mobility as well as guiding accuracy of the developed compliant mechanisms, that is, their capability to realize translating planar displacement of the link, have been researched, and the optimal dimensions of the mechanism have been determined in order to provide minimal guiding inaccuracy.展开更多
In order to study an isolation system of rolling friction with springs, computer programs were compiled to evaluate the seismic performance based on its movement characteristics. Through the programs, the influences o...In order to study an isolation system of rolling friction with springs, computer programs were compiled to evaluate the seismic performance based on its movement characteristics. Through the programs, the influences of various seismic performance factors, e.g., rolling friction coefficient, spring constant, were systematically investigated. Results show that by increasing the rolling friction coefficient, the structural relative displacement due to seismic load effectively decreases, while the structural response magnitude varies mainly depending on the correlations between the following factors: the spring constant, the earthquake intensity, and the rolling friction coefficient. Furthermore, increasing the spring constant can decrease the structural relative displacement, as well as residual displacement, however, it increases the structural response magnitude. Finally, based on the analyses of various seismic performance factors subjected to the scenario earthquakes, optimized theoretical seismic performance can be achieved by reasonably combining the spring constant and the rolling friction coefficient.展开更多
文摘In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, in which each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed with revolute joints. In this paper, the effects of fingertip rotation and a revolute joint spring model are investigated. A grasp stiffness matrix is analytically derived by considering not only frictional rolling contact but also frictionless sliding contact. The difl＇erence between the frictional stiffness matrix and the frictionless one is analytically obtained. The effect of local curvature at contact points is analytically derived. The grasp displacement directions affected by the change in curvature and the contact condition are also obtained. The derived stiffness matrix of the revolute joint model is compared with that of the prismatic joint model, and then the stiffness relation is clarified. The gravity effect of the object is also considered. The effectiveness of our method is demonstrated through numerical examples. The stability is evaluated by the eigenvalues of the grasp stiffness matrix, and the grasp displacement direction is obtained by the corresponding eigenvectors. The effect of joint angle is also discussed.
文摘Compliant mechanisms transfer an input force or displacement to another point through elastic body deformation. The field of compliant mechanisms is expected to continue to grow as materials with superior properties are developed. The paper takes into consideration some typical spring guiding systems, being able to realize translating planar displacement of the link. Some types of compound spring guiding systems, such as S-shaped guiding spring system, U-shaped guiding spring system and four spring guiding system with additional rigid-body link have been considered and analyzed as compliant structures. The mobility as well as guiding accuracy of the developed compliant mechanisms, that is, their capability to realize translating planar displacement of the link, have been researched, and the optimal dimensions of the mechanism have been determined in order to provide minimal guiding inaccuracy.
基金Project(51308549)supported by the National Natural Science Foundation,China
文摘In order to study an isolation system of rolling friction with springs, computer programs were compiled to evaluate the seismic performance based on its movement characteristics. Through the programs, the influences of various seismic performance factors, e.g., rolling friction coefficient, spring constant, were systematically investigated. Results show that by increasing the rolling friction coefficient, the structural relative displacement due to seismic load effectively decreases, while the structural response magnitude varies mainly depending on the correlations between the following factors: the spring constant, the earthquake intensity, and the rolling friction coefficient. Furthermore, increasing the spring constant can decrease the structural relative displacement, as well as residual displacement, however, it increases the structural response magnitude. Finally, based on the analyses of various seismic performance factors subjected to the scenario earthquakes, optimized theoretical seismic performance can be achieved by reasonably combining the spring constant and the rolling friction coefficient.
