Abstract
The study of the instantaneous kinematics and statics aims at capturing the properties of mechanisms in terms of the mapping of forces, velocities and error propagation. Dexterity measures have been developed to quantify these properties with a view to analysis and design. Tendons and cables may be viewed as unilateral actuators because they require tensioning for normal operation. When power grasping is abstracted to a set of forces acting at discrete points on the surface of an object, it can be analyzed in terms of unilateral statics. It is also used to analyze magnetic levitation resulting from forces caused by variable reluctance magnetic circuits, as is the case of a vehicle propelled by reaction jets. For all these cases, a new set of measures based on the unilateral statics is developed when n + 1 forces act on a n d.o.f. mechanism and force mapping properties are studied. It is proposed to replace the ordinary concepts of dexterity, singularity, isotropy, maximum force amplification and maximum dexterity gradient by unilateral dexterity, unilateral singularity, unilateral isotropy, unilateral maximum force amplification and unilateral maximum dexterity gradient, respectively. As an example of their application, the geometric optimization of a 3 d.o.f. tendon mechanism is performed.
Published Version
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