Browsing by Author "Chen, Dar-Zen"
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Item Dynamic Analysis and Synthesis of Geared Robotic Mechanisms(1991) Chen, Dar-Zen; Tsai, Lung-Wen; ISRThe objective of this research is to develop a systematic approach for dynamic analysis of geared robotic mechanisms and to establish systematic and rational methodologies for the determination of gearing configuration and gear ratios.First, a systematic methodology is developed for the dynamic analysis of geared robotic mechanisms. The formulation of dynamic equations is based on the concept of an equivalent open-loop chain. It is shown that reaction force analysis of such mechanisms can be efficiently carried out by a forward evaluation along its transmission lines followed by a backward evaluation along the equivalent open-loop chain.
Then, two methodologies are developed for the determination of gearing configuration and gear ratios. The first methodology considers the design from both kinematics and dynamics points of view. It is shown that, through proper choice of gear ratios, certain gear-coupled manipulators can be designed to possess kinematic isotropy and maximum acceleration capacity (KIMAC) conditions at a given reference point while individual-joint drive manipulators can not be designed to possess such conditions. The train values of those gear-coupled manipulators can be thought of as a product of two- stage gear reductions. The second-stage gear reduction is used to define the kinematic isotropic condition while the first- stage gear reduction is used to optimize the acceleration capacity. The second methodology considers the design from just the dynamics point of view. It is shown that, to achieve a maximum acceleration capacity (MAC), the mass inertia matrix of the input links reflected at the joint-space should be equal to that of the major links. It is also shown that the maximum acceleration capacity is independent of the gearing configuration.
The methodologies developed in this research provide an efficient and systematic approach for the dynamic analysis and synthesis of geared robotic mechanisms.
Item The Generalized Principle of Inertia Match for Geared Robotic Mechanisms(1990) Chen, Dar-Zen; Tsai, Lung-Wen; ISRIn this paper, the principle of inertia match has been extended from one degree-of-freedom system to multi-degree-of-freedom systems. Based on the concept of maximum acceleration capacity, we have developed a methodology for the determination of gear ratios in geared robotic mechanisms. We have shown that at the optimum design, the mass inertia matrix of the input links reflected at the joint-space is equal to that of the major links, and the maximum acceleration capacity is independent of the gear train arrangement. Several two degree-of-freedom geared robotic mechanisms have been used as design examples to illustrated the principle. Using this methodology, mechanisms can be designed to yield optimum dynamic performance.Item Kinematic and Dynamic Synthesis of Geared Robotic Mechanisms(1990) Chen, Dar-Zen; Tsai, Lung-Wen; ISRThis paper describes a methodology for the design of geared robotic mechanisms. We have shown that certain gear-coupled manipulators can be designed to possess an isotropic condition at a given end-effector position. For these gear-coupled manipulators, the train values can be treated as a product of two-stage gear reductions. The second-stage reduction can be uniquely determined from the kinematic isotropic condition, while the first-stage reduction can be determined from dynamic consideration. This approach, through proper choice of gear ratios, can provide these gear-coupled manipulators with desired kinematic and dynamic characteristics.Item A Systematic Methodology for the Dynamic Analysis of Articulated Gear-Mechanisms(1990) Chen, Jie; Chen, Dar-Zen; Tsai, Lung-Wen; ISRThis paper describes a systematic methodology for the dynamic analysis of a general class of articulated gear-mechanisms. The approach is based on recently published results related to the kinematic and dynamic analyses of such gear systems. We have shown that the Lagrange's equations of motion can be derived in terms of the minimum number of generalized coordinates in a systematic manner. We have also shown that constraint forces and torques can be evaluated systematically and efficiently, once the equations of motion have been solved. The procedure can be automated in a computer program.