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Design Innovation Paper

Design of an Actuation Device With the Capability of Automatically Distributing External Load Based on Stability Theorems

[+] Author and Article Information
Hao Wang

Professor
State Key Laboratory of Mechanical System and Vibration,
Shanghai Jiao Tong University,
Shanghai 200240, China;
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: wanghao@sjtu.edu.cn

Lingyu Kong

State Key Laboratory of Mechanical System and Vibration,
Shanghai Jiao Tong University,
Shanghai 200240, China;
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: klyshiwo@sjtu.edu.cn

Genliang Chen

State Key Laboratory of Mechanical System and Vibration,
Shanghai Jiao Tong University,
Shanghai 200240, China;
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: leungchan@sjtu.edu.cn

Yong Zhao

State Key Laboratory of Mechanical System and Vibration,
Shanghai Jiao Tong University,
Shanghai 200240, China;
Shanghai Key Laboratory of Digital Manufacture
for Thin-walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China
e-mail: zhaoyong@sjtu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received November 2, 2014; final manuscript received April 1, 2015; published online June 8, 2015. Assoc. Editor: Ettore Pennestri.

J. Mech. Des 137(8), 085001 (Aug 01, 2015) (8 pages) Paper No: MD-14-1714; doi: 10.1115/1.4030426 History: Received November 02, 2014; Revised April 01, 2015; Online June 08, 2015

Actuation redundancy is widely used to enhance load-carrying capability of robot manipulators; however, it also causes the problems of uneven load distribution and internal forces. This paper presents a redundant actuation device which can automatically distribute the external load to the actuators equally. A structure, which has two additional rotational degree-of-freedom (DOF), is introduced to coordinate the inconsistent forces and motions of the redundant actuators. By an appropriate design of the coordinating structure, the proposed redundant actuation device can work stably at its equilibrium position, even when the system is imperfectly actuated. The automatic distribution property of the proposed actuation device is theoretically proved based on two stability theorems in classical mechanics, namely, the Lagrange's and the Chetaev's. Then, numerical simulations are performed to validate the effectiveness of the design by means of the observation of the phase planes and the load distribution. This study provides an alternative way to design redundant actuation devices with the capability of automatically distributing the external loads, such that the stability characteristics can be guaranteed in a mechanical way, rather than control strategies.

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Figures

Grahic Jump Location
Fig. 1

Schematic diagram of the actuated redundant manipulator

Grahic Jump Location
Fig. 2

Schematic diagram of the actuation device

Grahic Jump Location
Fig. 3

Phase planes: (a) case 1, (b) case 2, (c) case 3, (d) case 4, (e) case 5, and (f) case 6

Grahic Jump Location
Fig. 4

Loads distributed to actuations: (a) case 1, (b) case 2, (c) case 3, (d) case 4, (e) case 5, and (f) case 6

Grahic Jump Location
Fig. 5

Improved actuation device

Grahic Jump Location
Fig. 6

Working mode of the improved device when Fr < 0

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