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Routing Configuration Synthesis of Conventional Springs with ZFL characteristics for Minimizing Spanning Space and Placing Spring
conventional spring,cable driven mechanism,routing configuration synthesis,serial manipulator,superposition of vector,conservation law,
|Publication Year :||2016|
A methodology to develop tension springs with zero-free-length (ZFL) characteristics is presented, and the configurations for placing the springs precisely on the manipulators are introduced. Also, this paper proposes a general design approach for the routing configuration synthesis of the springs on the basis of the re-utilization of spring space. A spring–string arrangement installed between two separate links of a serial-type manipulator is employed and is divided into three regions for mounting, tensioning, and placing springs. The springs can develop ZFL characteristics if adequate length is ensured for mounting the springs. To shorten the length for placing springs, a reference length acquired from the link configurations is utilized. The minimization of the placing length can therefore be described clearly. Because the overextended springs and links resulting from the longish mounting length shroud the workspace of the other links, the springs are reorganized using cable-driven mechanisms to shorten the mounting length. The springs can then be arranged in alignment on the links. On the other hand, the proposed routing configuration synthesis are that one spring can be replaced by equivalent springs with consistent spring capability of the joint torque but occupy less spring space during motion. Wire winding technique of the springs is applied by using one equivalent sole springs for reducing the use of equivalent springs in routing configurations. Furthermore, the spring elongations are given a symbiosis relationship in wire winding so the spring coefficients can then be decreased. The assessments of the routing configuration synthesis by the shrinkage performance of spring space are provided. The optimized routing configuration is observed when the springs occupy least space, and align on the linkage, from which, the spring configuration can be readily obtained. The suggested configuration with and without wire winding is the scissor type. As achieved with these arrangements, comprehensive spring configurations on the manipulators can be shown. The routing configurations of the springs of a serial tri-articular manipulator are therefore illustrated as a design example in the last section.
|Appears in Collections:||機械工程學系|
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