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Full-Text Articles in Mechanical Engineering
Geometric Construction-Based Realization Of Spatial Elastic Behaviors In Parallel And Serial Manipulators, Shuguang Huang, Joseph M. Schimmels
Geometric Construction-Based Realization Of Spatial Elastic Behaviors In Parallel And Serial Manipulators, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
This paper addresses the realization of spatial elastic behavior with a parallel or a serial manipulator. Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and interpreted in terms of the manipulator geometry. These conditions completely decouple the requirements on component elastic properties from the requirements on mechanism kinematics. New construction-based synthesis procedures for spatial elastic behaviors are developed. With these synthesis procedures, one can select each elastic component of a parallel (or serial) mechanism based on the geometry of a restricted space of allowable candidates. With each elastic component …
Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Two Single-Point Principal Contacts, Shuguang Huang, Joseph M. Schimmels
Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Two Single-Point Principal Contacts, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
The admittance of a manipulator can be used to improve robotic assembly. If properly selected, the admittance will regulate a contact force and use it to guide the parts to proper positioning. In previous work, procedures for selecting the appropriate admittance for single principal contact (PC) cases were identified. This paper extends this research for some of the two PC cases-those for which each contact occurs at a single point. The conditions obtained ensure that the motion that results from frictionless contact always instantaneously reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reducing conditions …
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point frictional contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations and a given coefficient of friction /spl mu//sub M/) then the admittance will also ensure that the conditions are satisfied at all intermediate configurations for all coefficients less than /spl mu//sub M/.
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance …