Abstract
This paper presents a theory for the analytical determination of internal forces in the links of planar linkage mechanisms and manipulators with statically determinate structures, considering the distributed dynamic loads. Linkage mechanisms and manipulators were divided into elements and joints. Discrete models were created for both the elements and the entire mechanism. The dynamic equations of equilibrium for the discrete model of the elements and the hinged and rigid joints, under the action of longitudinal and transverse distributed dynamic trapezoidal loads, were derived. In the dynamic equations of the equilibrium of the discrete model of the elements and joints, the connections between the components of the force vector in the calculated cross-sections and the geometric, physical, and kinematic characteristics of the element were established for its plane-parallel motion. According to the developed technique, programs were created in the Maple system, and animations of the motion of the mechanisms were produced. The links were constructed with the intensity of transverse- and longitudinal-distributed dynamic loads, bending moments, and shearing and normal forces, depending on the kinematic characteristics of the links.
Highlights
One of the important problems in designing mechanisms and manipulators is ensuring the strength and stiffness of their links during full-time process
In these graphically analytic and numerical methods for strength and stiffness, the analysis of linkage mechanisms and manipulators, the distributed loads from inertial forces, gravitational forces arising from distributed own mass of links, and changing their values and directions from kinematic parameters of mechanism are not considered
The dynamic equilibrium equations of the discrete model of the elements are derived, and connections are established between the components of vector of forces in calculated cross-sections, with geometric, physical, and kinematic characteristics of links with constant cross-sections in their plane-parallel movement
Summary
One of the important problems in designing mechanisms and manipulators is ensuring the strength and stiffness of their links during full-time process. The proposed CFB modelling approach can be regarded as an improved free-body-diagram (FBD) modelling approach, and was extended to the development of the screw-theory-based design approach In these graphically analytic and numerical methods for strength and stiffness, the analysis of linkage mechanisms and manipulators, the distributed loads from inertial forces, gravitational forces arising from distributed own mass of links, and changing their values and directions from kinematic parameters of mechanism are not considered. The dynamic equilibrium equations of the discrete model of the elements are derived, and connections are established between the components of vector of forces in calculated cross-sections, with geometric, physical, and kinematic characteristics of links with constant cross-sections in their plane-parallel movement.
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