Leonesio, Marco and Bianchi, Giacomo (2009) Self-locking analysis in closed kinematic chains. Mechanism and Machine Theory, 44 (11). 2038 - 2052. ISSN 1873-3999
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Abstract
Self-locking analysis in closed kinematic chains is sometimes likened to kinematic singularity analysis, especially when mechanisms are characterized by more than one degree of freedom. Although in singular configurations a mechanism is obviously locked-up since joint constraint reactions and friction forces rise to infinity, this approach identifies only a condition sufficient for self-locking, while the phenomenon actually occurs in a larger domain, the size of which depends on the values of friction coefficients. The paper proposes a definition of self-locking for multi degrees of freedom mechanisms and presents an algorithm for computing the geometrical locus that corresponds to a specific self-locking configuration. This methodology is then demonstrated on a simple parallel kinematic mechanism with two degrees of freedom.
Item Type: | Article |
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Uncontrolled Keywords: | Kinematic singularity, friction, self-locking, closed kinematic chain |
Subjects: | 600 Tecnologia - Scienze applicate > 620 Ingegneria e attivita' affini > 621 Fisica applicata; Ingegneria meccanica > 621.8 Ingegneria delle macchine |
Depositing User: | Eng. Marco Leonesio |
Date Deposited: | 21 Dec 2016 13:35 |
Last Modified: | 21 Dec 2016 13:35 |
URI: | http://eprints.bice.rm.cnr.it/id/eprint/15456 |
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