Development of the active spatial rolling contact pair to generate the specified trajectory

Linkage mechanisms with 1 DOF composed of only lower pairs cannot generate the specified motion completely because of severe kinematic limitation of lower pairs. In order to relax the kinematic limitation and to generate the specified spatial trajectory completely, the authors have proposed the spat...

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Autores principales:	Naoto KIMURA, Nobuyuki IWATSUKI, Ikuma IKEDA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2021
Materias:	linkage kinematic pair higher pair exact path generation rolling contact joint mechanism design transmission index antagonistically driven joint Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/362f8926adba435184cf3d4d913e4385
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id	oai:doaj.org-article:362f8926adba435184cf3d4d913e4385
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spelling	oai:doaj.org-article:362f8926adba435184cf3d4d913e43852021-11-29T06:07:02ZDevelopment of the active spatial rolling contact pair to generate the specified trajectory2187-974510.1299/mej.20-00475https://doaj.org/article/362f8926adba435184cf3d4d913e43852021-06-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/8/3/8_20-00475/_pdf/-char/enhttps://doaj.org/toc/2187-9745Linkage mechanisms with 1 DOF composed of only lower pairs cannot generate the specified motion completely because of severe kinematic limitation of lower pairs. In order to relax the kinematic limitation and to generate the specified spatial trajectory completely, the authors have proposed the spatial rolling contact pair (SRCP), where two links in contact at a line roll relatively with generating the specified relative spatial trajectory completely, as a novel kinematic pair used for a spatial-path generator with 1 DOF. However, since it is a passive kinematic pair, it must be used in a closed-loop mechanism. Thus, the spatial-path generator with the SRCP cannot be simplified enough. In this paper, the ”active” spatial rolling contact pair (ASRCP), which is driven by several active elastic elements such as flexible linear actuators, is developed to achieve a simple spatial-path generator. Firstly, a design method to optimally arrange active elastic elements between two links of the SRCP based on a transmission index is proposed. Here, a method to use more than the minimum number of active elastic elements which are required to constitute force-closure state is described to design the ASRCP in order to achieve sufficient motion range. Besides, a control method of the ASRCP to generate the ideal rolling motion is proposed, where actuation forces of active elastic elements to get high stability between the links are calculated with the use of the actuation redundancy. As examples, the ASRCP driven with reeled-wires and the ASRCP driven with fluid-driven artificial muscles are designed and prototyped. Then, they are controlled with the proposed method, and their performances are investigated through motion capture experiments.Naoto KIMURANobuyuki IWATSUKIIkuma IKEDAThe Japan Society of Mechanical Engineersarticlelinkagekinematic pairhigher pairexact path generationrolling contact jointmechanism designtransmission indexantagonistically driven jointMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 8, Iss 3, Pp 20-00475-20-00475 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	linkage kinematic pair higher pair exact path generation rolling contact joint mechanism design transmission index antagonistically driven joint Mechanical engineering and machinery TJ1-1570
spellingShingle	linkage kinematic pair higher pair exact path generation rolling contact joint mechanism design transmission index antagonistically driven joint Mechanical engineering and machinery TJ1-1570 Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA Development of the active spatial rolling contact pair to generate the specified trajectory
description	Linkage mechanisms with 1 DOF composed of only lower pairs cannot generate the specified motion completely because of severe kinematic limitation of lower pairs. In order to relax the kinematic limitation and to generate the specified spatial trajectory completely, the authors have proposed the spatial rolling contact pair (SRCP), where two links in contact at a line roll relatively with generating the specified relative spatial trajectory completely, as a novel kinematic pair used for a spatial-path generator with 1 DOF. However, since it is a passive kinematic pair, it must be used in a closed-loop mechanism. Thus, the spatial-path generator with the SRCP cannot be simplified enough. In this paper, the ”active” spatial rolling contact pair (ASRCP), which is driven by several active elastic elements such as flexible linear actuators, is developed to achieve a simple spatial-path generator. Firstly, a design method to optimally arrange active elastic elements between two links of the SRCP based on a transmission index is proposed. Here, a method to use more than the minimum number of active elastic elements which are required to constitute force-closure state is described to design the ASRCP in order to achieve sufficient motion range. Besides, a control method of the ASRCP to generate the ideal rolling motion is proposed, where actuation forces of active elastic elements to get high stability between the links are calculated with the use of the actuation redundancy. As examples, the ASRCP driven with reeled-wires and the ASRCP driven with fluid-driven artificial muscles are designed and prototyped. Then, they are controlled with the proposed method, and their performances are investigated through motion capture experiments.
format	article
author	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_facet	Naoto KIMURA Nobuyuki IWATSUKI Ikuma IKEDA
author_sort	Naoto KIMURA
title	Development of the active spatial rolling contact pair to generate the specified trajectory
title_short	Development of the active spatial rolling contact pair to generate the specified trajectory
title_full	Development of the active spatial rolling contact pair to generate the specified trajectory
title_fullStr	Development of the active spatial rolling contact pair to generate the specified trajectory
title_full_unstemmed	Development of the active spatial rolling contact pair to generate the specified trajectory
title_sort	development of the active spatial rolling contact pair to generate the specified trajectory
publisher	The Japan Society of Mechanical Engineers
publishDate	2021
url	https://doaj.org/article/362f8926adba435184cf3d4d913e4385
work_keys_str_mv	AT naotokimura developmentoftheactivespatialrollingcontactpairtogeneratethespecifiedtrajectory AT nobuyukiiwatsuki developmentoftheactivespatialrollingcontactpairtogeneratethespecifiedtrajectory AT ikumaikeda developmentoftheactivespatialrollingcontactpairtogeneratethespecifiedtrajectory
_version_	1718407578271088640

Development of the active spatial rolling contact pair to generate the specified trajectory

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