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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 …
Spatial Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Single Principal Contact, Shuguang Huang, Joseph M. Schimmels
Spatial Admittance Selection Conditions For Frictionless Force-Guided Assembly Of Polyhedral Parts In Single Principal Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
By judiciously selecting the admittance of a manipulator, the forces of contact that occur during assembly can be used to guide the parts to proper positioning. This paper identifies conditions for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single feature (vertex, edge, or face) of one part contacts a single feature of the other, i.e., all single principal contact cases. These conditions 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 Force-Guided Assembly Of Polygonal Parts Despite Friction, Shuguang Huang, Joseph M. Schimmels
Admittance Selection For Force-Guided Assembly Of Polygonal Parts Despite Friction, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies conditions to be satisfied when selecting the appropriate admittance to achieve force-guided assembly of polygonal parts for multipoint contact with friction. These conditions restrict the admittance behavior for each of the various one-point and two-point contact cases and ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded friction and part misalignments, if the identified conditions are satisfied for a finite number of contact configurations and friction coefficients, …
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for multi-point contact cases. Conditions that restrict the admittance behavior for each of the various types of two-point contact are presented. These conditions ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded misalignments, if the conditions are satisfied for a finite number of contact configurations, the conditions ensure that force guidance is achieved for all …
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 …
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, 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 planar force-guided assembly 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 misalignment, if the conditions are satisfied for a finite number of contact configurations, the system ensures that force guidance is achieved …