Abstract
This study proposes new wire mechanism called “the redundant drive wire mechanism” (RDWM), driven by double actuator modules. The RDWM is configured with velocity constraint modules (VCMs) that provide high-acceleration global and fine local motions. Suitable RDWM candidates are found by combining the kinematic analysis with static force analysis. The study also clarifies the role of VCMs in reducing the required number of actuators while keeping the orientation of the top plate. We propose a judgment procedure with three steps: a static force analysis in the whole motion space, a kinematic analysis that finds the active constraint space wherein the top plate can produce velocity and a static force analysis in this active constraint space. The proposed judgment procedure and the role of VCMs are validated by examples.
Highlights
The structure of wire mechanisms are often employed to configure fast mechanisms
Outline of the procedure To solve the technical problems discussed in the previous section, we propose the following judgment procedure for finding redundant drive wire mechanism (RDWM) candidates with/without velocity constraint modules (VCMs): Step 1: Check the necessary condition for vector closure; Step 2: Find the space of producible velocity by kinematical analysis; Step 3: Check the vector closure condition within the space of producible velocity
Second configuration: planar RDWM with two double actuator modules (DAMs) and one DAM with a VCM We propose a planar RDWM configured with two DAMs without VCMs and one DAM with a VCM
Summary
The structure of wire mechanisms are often employed to configure fast mechanisms. Wire mechanisms reduce the inertia of the top plate, enabling large acceleration motions. Necessary condition check (step 1) In step 1, the matrix W G that contributes to the resultant force on the top plate is given by Eq (23) with only one VCM contain two wires as follows:
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