Self-locking analysis in closed kinematic chains

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
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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