Improved task adaptability of open/closed chain mechanisms throughcontinuous joint mode conversion

摘要

Presents a simple and effective way of improving the taskadaptability of redundant open/closed chain mechanisms based on jointlocking/unactuation and continuous joint mode conversion. The jointlocking/unactuation in an open/closed chain mechanism is incorporated inthe kinematics/statics of the mechanism, and the varying kinematiccharacteristics depending on the distribution of frozen/passive jointsis analyzed. The discontinuity in joint velocity/torque of anopen/closed chain mechanism, incurred when the joint mode switching isdone abruptly, is described. Two methods of the continuous joint modeconversion for a short transition interval are proposed and compared.Finally, simulation results for a planar redundant open chain mechanismemploying joint locking are given