Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
TLDR
This paper presents a novel transition condition for predicting the forward dynamics of variable topology mechanisms, crucial for systems with changing kinematic constraints.
Key contributions
- Introduces a new transition condition for dynamic behavior of variable topology mechanisms.
- Addresses non-smooth dynamics in systems with changing kinematic constraints.
- Presents two versions: projected motion equations and Voronets equations.
- Demonstrates efficacy on a planar 3R mechanism and a 6DOF industrial manipulator.
Why it matters
Understanding variable topology mechanisms is vital for robotics and human-machine interaction, where systems frequently change their kinematic structure. This work provides a robust method to accurately model these complex, non-smooth dynamics, improving prediction and control.
Original Abstract
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is becoming an important issue in human-machine interaction. Anticipating the dynamic behavior of variable topology mechanisms requires solving a non-smooth dynamic problem. The core challenge is a physically meaningful transition condition at the topology switching events. Such a condition is presented in this paper. Two versions are reported, one using projected motion equations in terms of redundant coordinates, and another one using the Voronets equations in terms of minimal coordinates. Their computational properties are discussed. Results are shown for joint locking of a planar 3R mechanisms and a 6DOF industrial manipulator.
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