Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-25T05:44:41.262Z Has data issue: false hasContentIssue false
  • English
  • Français

Contribution of internal forces to the dynamics of closed chain mechanisms

Published online by Cambridge University Press:  09 March 2009

Mehmet Arif Adli  and
Hideo Hanafusa
Mehmet Arif Adli
Affiliation:
Laboratory for Bio-Mimetic Control Systems, Bio-Mimetic Control Research Center, (The Institute of Physical and Chemical Research) RIKEN, 8–31, Rokuban 3-chome, Atsuta-ku, Nagoya 456 (Japan).
Hideo Hanafusa
Affiliation:
The Graduate School of Science and Engineering, Ritsumeikan University, 1916, Noji-cho, Kusatsu-shi, Shiga 525. (Japan).
Get access Rights & Permissions [Opens in a new window]

Summary

The kinematic structure of closed chain mechanisms is suitable for putting an excess number of inputs in addition to the required number to control their position and orientation. With the addition of these excess inputs, it is possible to generate and control the internal forces within the mechanisms by simultaneously activating joints whose action opposes each other. The internal forces balance inside the structure of mechanisms and do not create any resultant force. However, at the static or quasi-static cases they change the stiffness of the mechanisms. In dynamic cases, in addition to the change in stiffness, they may also generate a damping effect. As a result of these effects, the dynamic behavior of closed chain mechanisms changes. This study analyzes the dynamics of the closed chain mechanisms under the effect of internal forces through the simulation and experimental results using a planar closed chain mechanism.

Keywords

Internal forcesClosed chain mechanismsControlDynamics.
Type
Articles
Information
Robotica , Volume 13 , Issue 5 , September 1995 , pp. 507 - 514
Copyright
Copyright © Cambridge University Press 1995

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.Pittalkau, M.E. “Adaptive Load-Sharing Force Control For Two Arm Manipulators” Proceedings of the 1987 IEEE International Conference on Robotics and Automation(1987) pp. 498–503.Google Scholar
2.Hsu, P., “Control of Multi-manipulator Systems-Trajectory Tracking Load Distribution, Internal Force Control and Decentralized Architecture” Proceedings of the 1989 IEEE International Conference on Robotics and Automation(1989) pp. 1234–1239.Google Scholar
3.Baker, B.S., Fortune, S. and Grosse, E. “Stable Prehension with a Multifingered Hand” Proceedings of 1985 IEEE International Conference on Robotics and Automation,Louis(1985) pp. 570/575.Google Scholar
4.Nguyen, V. “The Synthesis of Stable Grasps in the Plane” Proceedings of 1986 IEEE International Conference Robotics and Automation,San Francisco(1986) pp. 884/889.Google Scholar
5.Cutkosky, M.R. and Kao, I. “Computing and Controlling the Compliance of A Robotic Hand” IEEE Transactions on Robotics and Automation 5, No. 2, 151–165 (04, 1989).CrossRefGoogle Scholar
6.Yi, B.J., Freeman, R. and Tesar, D., “Open-Loop Stiffness Control of Overconstrained Mechanisms/Robotic Linkage Systems” Proceedings of 1989 IEEE International Conference on Robotics and Automation,Scottsdale, AZ. 3 (1989). pp. 1340–1345.Google Scholar
7.Kaneko, M., Imamura, N., Yokoi, K., and Tanie, K., “ Realization of Stable Grasp Based on Virtual Stiffness Model by Robot Fingers” Proceedings of 1990 IEEE International Workshop on Advanced Motion Control,Yokohama(1990) pp. 156–163.Google Scholar
8.Yi, B.J. and Freeman, R. “Simultaneous Stiffness Generation and Load Distribution in Redundantly Actuated Mechanisms” Proceedings of '91 ICAR, Fifth International Conference on Advanced Robotics,Pisa, Italy(June, 1991) pp. 802–807.Google Scholar
9.Adli, M.A., Nagai, K., Miyata, K. and Hanafusa, H., “Analysis of Internal Force Effect in Parallel Manipulators” Trans, of the Society of Instrument and Control Engineers 27, No. 11, 1266–1273 (11., 1991).CrossRefGoogle Scholar
10.Hanafusa, H. and Adli, M.A., “Effect of Internal Forces Stiffness of Closed Mechanisms (in Japanese)” J. Robotic Society of Japan 10, No. 1, 128–134 (02., 1992).CrossRefGoogle Scholar
11.Adli, M.A. and Hanafusa, H., “Compliance Control and Selective Compliance Center via Internal Forces Redundantly Actuated Closed Chain Mechanisms” Trans, of the Society of Instrument and Control Engineers (SICE) 29, No. 3, 253–362 (03, 1993).CrossRefGoogle Scholar