대한기계학회논문집 (Transactions of the Korean Society of Mechanical Engineers)
- 제18권4호
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- Pages.846-855
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- 1994
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- 1225-5963(pISSN)
DOI QR Code
잉여구동을 지닌 4절 기구에서의 강성효과에 대한 해석
Stiffness Analysis in a Redundantly Actuated Four-Bar Mechanism
초록
An effective stiffness, analogous to that of a wound spring, can be created by antagonistic redundant actuation of general closed-chain mechanisms. The qualitative and quantitative characteristics of the effective stiffness are investigated through a Four-bar mechanism, and a load distribution method is introduced which simultaneously guarantees the required system motion and the effective stiffness of the Four-bar mechanism. Furthermore, a simulation is performed to understand the inter-relationship among the effective stiffness, the Four-bar geometry, and the actuation effort. Based on this analysis, the Four-bar synthesis problem for effective stiffness generation is discussed.
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