Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Selecting kinematic structures using the actuated degree-of-control
Submission Author:
Estevan Hideki Murai , SC
Co-Authors:
Roberto Simoni, Daniel Martins, Estevan Hideki Murai
Presenter: Estevan Hideki Murai
doi://10.26678/ABCM.COBEM2017.COB17-0890
Abstract
Mechanism design is typically a designer dependent task. Mechanism design methodologies aim to reduce the designer dependency, creating a structured approach to mechanism design. One critical step in enumeration-based mechanism design methodologies is the selection of kinematic structures. Structural characteristics, such as connectivity and degree-of-control can be used to aid the designer in the identification of feasible mechanisms. This paper presents the use of a new structural characteristic to identify feasible kinematic structures, the actuated degree-of-control (ADOC). Initially, a review on structural characteristics is presented, exposing their definitions. Then, the use of the ADOC is shown, exposing its difference in relation to previous structural characteristics. Two case studies are presented to validate the use of the ADOC in the kinematic structure selection process. In the first case study the kinematic structure for a toggle clamp device is selected using the ADOC concept. In the second case study the kinematic structure of a modular variable stiffness actuator is selected using the ADOC concept. Finally, the advantages of using the ADOC in the mechanism design process are discussed.
Keywords
actuated degree-of-control, kinematic chain selection, degree-of-control, connectivity, Mechanism design
