Synthesis and Analysis of a Novel Linkage Mechanism with the Helical Motion of the End-Effector

Robotics

卷:9

Andreas Jahr¹  Daniil Petelin²  Alexey Fomin² 

[1] Faculty of Mechanical and Process Engineering, Düsseldorf University of Applied Sciences, 40476 Düsseldorf, Germany;

[2] Mechanisms Theory and Machines Structure Laboratory, Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), 101990 Moscow, Russia;

关键词: slider-crank mechanism;    screw mechanism;    degree-of-freedom;    Assur group;    trajectory;   

DOI  :  10.3390/robotics9030053

来源: DOAJ

【 摘 要 】

The proposed study is focused on the development of a novel modification of the slider-crank mechanism, the kinematic scheme of which is organized by coupling planar and spatial (screw) kinematic chains. The structure of this mechanism provides the end-effector with a cyclic movement along a helicoidal trajectory, while all other links have planar motions. A kinematic analysis of the synthesized mechanism is discussed in this study. The motion variables of the end-effector at different pitches in the screw joints are determined analytically and numerically. Based on the mechanism’s kinematic scheme, its assembling computer-aided design (CAD) model has been created, in accordance with which a physical prototype has been built. A functional performance of the prototype is studied by comparing the displacements of its end-effector with analogical displacements of the CAD model. The question of the technological application of the developed mechanism for spring winding and various objects’ screwing has been considered in this study.

【 授权许可】

Unknown