Etude d'une classe de robots formes d'un mecanisme en serie a sept articulations. Synthese du type afin d'obtenir un espace de travail ou l'on puisse controler la dexterite
研究一类机器人的七个关节系列机械形式。合成类型，以获得一个工作空间，在那里我们可以控制灵巧
{"title":"A Survey of One Class of 7-Jointed Serially Connected Robots: Type-Synthesis to Obtain Controllably Dexterous Workspace","authors":"J. Davidson","doi":"10.1115/1.3258980","DOIUrl":"https://doi.org/10.1115/1.3258980","url":null,"abstract":"Etude d'une classe de robots formes d'un mecanisme en serie a sept articulations. Synthese du type afin d'obtenir un espace de travail ou l'on puisse controler la dexterite","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124511933","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In some earlier papers (Savage, Coy, and Townsend, 1982; Carroll and Johnson, 1984), the design of spur gear sets based on minimum size has been addressed considering the interaction of bending and contact stress constraints. In this paper, we present a new approach to the spur gear problem. The new method makes use of some newly defined dimensionless parameters. In the resulting design space, the optimal dimensionless design (which defines the optimal tooth geometry) is independent of load and speed requirements of the gear set. However the optimum is dependent on the physical properties of the materials used. We introduce a new quantity called the Material Properties Relationship Factor, C MP . In the problem formulation presented here, we show that the optimum will always be constraint bound and it will occur at one of three possible constraint intersections. C MP is used to identify which of three possible constraint intersections is the correct one. After the dimensionless optimum is found, we present an example which shows how to transform the solution back into the real design space considering the load and speed requirements of the gear set along with discrete value constraints on the number of teeth and the diametral pitch. Tabulated optimal dimensionless designs are included for some standard sets of tooth proportions.
在一些早期的论文中(Savage, Coy, and Townsend, 1982;Carroll和Johnson, 1984)，基于最小尺寸的正齿轮组的设计已经考虑到弯曲和接触应力约束的相互作用。本文提出了一种求解正齿轮问题的新方法。新方法利用了一些新定义的无量纲参数。在由此产生的设计空间中，最佳的无量纲设计(它定义了最佳的齿形)与齿轮组的负载和速度要求无关。然而，最佳值取决于所用材料的物理性质。我们引入了一个新的量，称为材料属性关系因子，cmp。在这里给出的问题表述中，我们证明了最优解总是约束边界，并且它将出现在三个可能的约束交叉点之一。cmp用于识别三个可能的约束交集中哪一个是正确的。在找到无量纲优化后，我们给出了一个例子，说明如何将解决方案转换回实际设计空间，考虑齿轮组的负载和速度要求以及齿数和直径节的离散值约束。表格化的最佳无量纲设计包括一些标准组的齿的比例。
{"title":"Dimensionless Solution to the Optimal Design of Spur Gear Sets","authors":"R. Carroll, G. E. Johnson","doi":"10.1115/1.3258997","DOIUrl":"https://doi.org/10.1115/1.3258997","url":null,"abstract":"In some earlier papers (Savage, Coy, and Townsend, 1982; Carroll and Johnson, 1984), the design of spur gear sets based on minimum size has been addressed considering the interaction of bending and contact stress constraints. In this paper, we present a new approach to the spur gear problem. The new method makes use of some newly defined dimensionless parameters. In the resulting design space, the optimal dimensionless design (which defines the optimal tooth geometry) is independent of load and speed requirements of the gear set. However the optimum is dependent on the physical properties of the materials used. We introduce a new quantity called the Material Properties Relationship Factor, C MP . In the problem formulation presented here, we show that the optimum will always be constraint bound and it will occur at one of three possible constraint intersections. C MP is used to identify which of three possible constraint intersections is the correct one. After the dimensionless optimum is found, we present an example which shows how to transform the solution back into the real design space considering the load and speed requirements of the gear set along with discrete value constraints on the number of teeth and the diametral pitch. Tabulated optimal dimensionless designs are included for some standard sets of tooth proportions.","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122894158","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Optimizing the Behavior of a Strain-Gaged Force Sensor","authors":"M. Reuber, C. Barratt, J. Kornegay","doi":"10.1115/1.3258959","DOIUrl":"https://doi.org/10.1115/1.3258959","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126163264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
utilisation de la methode de synthese a precision selective pour determiner les accelerations, vitesses et positions d'un mecanisme articule spatial generateur de trajectoire (mecanisme avec deux articulations de rotation et deux articulations spheriques)
{"title":"Position, Velocity, and Acceleration Synthesis of the RRSS Spatial Path-Generating Mechanism Using the Selective Precision Synthesis Method","authors":"P. Premkumar, S. N. Kramer","doi":"10.1115/1.3258971","DOIUrl":"https://doi.org/10.1115/1.3258971","url":null,"abstract":"utilisation de la methode de synthese a precision selective pour determiner les accelerations, vitesses et positions d'un mecanisme articule spatial generateur de trajectoire (mecanisme avec deux articulations de rotation et deux articulations spheriques)","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116733284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Analyse cinematique par la theorie des graphes d'un mecanisme de robot utilisant des commandes par câbles
使用电缆控制的机器人机械的图论运动学分析
{"title":"Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory.","authors":"L. Tsai, J. Lee","doi":"10.1115/1.3258972","DOIUrl":"https://doi.org/10.1115/1.3258972","url":null,"abstract":"Analyse cinematique par la theorie des graphes d'un mecanisme de robot utilisant des commandes par câbles","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131678707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"The Effect of Geometry Imperfections on the Performance of Multiple V-Belt Drives","authors":"G. Massouros","doi":"10.1115/1.3258962","DOIUrl":"https://doi.org/10.1115/1.3258962","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115019603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Generalization and Correction of the Welded Beam Optimal Design Problem Using Symbolic Computation","authors":"A. Almgren, A. Agogino","doi":"10.1115/1.3258957","DOIUrl":"https://doi.org/10.1115/1.3258957","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114700189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A General Method for Computing Worm Gear Conjugate Mesh Property: Part 2—The Mathematic Model of Worm Gear Manufacturing and Working Processes","authors":"Changqi Zheng, J. Lei","doi":"10.1115/1.3258961","DOIUrl":"https://doi.org/10.1115/1.3258961","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128476984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper an improved mathematical model of the brake shoe - path systemfor post type drum brakes is presented. The model enables calculation of such brake properties as the brake factor, the pressure distribution between the brake shoe and path and the braking torque. The model comprises elastii properties of the brake elements and the preliminary geometry of contact between them. These propertiei ari not taken into account in presently used methods of calculation. l3 E I x P p H L M N t k kt b w z R T S p / V Nomenclature modulus of elasticity moment of inertia distance applied force normal to shoe beam pressure component normal to P length of shoe beam bending moment normal resultant of contact pressure radial strain, thickness rigidity of foundation sector coefficient of elasticity width of lining shoe displacement
{"title":"Some Factors Influencing Friction Brake Performance: Part 2—A Mathematical Model of the Brake Shoe and the Brake Path System","authors":"Z. Barecki, S. Scieszka","doi":"10.1115/1.3258977","DOIUrl":"https://doi.org/10.1115/1.3258977","url":null,"abstract":"In this paper an improved mathematical model of the brake shoe - path systemfor post type drum brakes is presented. The model enables calculation of such brake properties as the brake factor, the pressure distribution between the brake shoe and path and the braking torque. The model comprises elastii properties of the brake elements and the preliminary geometry of contact between them. These propertiei ari not taken into account in presently used methods of calculation. l3 E I x P p H L M N t k kt b w z R T S p / V Nomenclature modulus of elasticity moment of inertia distance applied force normal to shoe beam pressure component normal to P length of shoe beam bending moment normal resultant of contact pressure radial strain, thickness rigidity of foundation sector coefficient of elasticity width of lining shoe displacement","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130190396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"On the Conceptual Design of a Novel Class of Robot Configurations","authors":"L. Tsai, F. Freudenstein","doi":"10.1115/1.3258970","DOIUrl":"https://doi.org/10.1115/1.3258970","url":null,"abstract":"","PeriodicalId":206146,"journal":{"name":"Journal of Mechanisms Transmissions and Automation in Design","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122539841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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