Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints
文献类型：期刊论文
| 作者 | Chen, Silu; Wan, Hongyu; Jiang, Chao; Ye, Liuying; Yu, Hongtao; Yang, Miao; Zhang, Chi; Yang, Guilin; Wu, Jiefeng |
| 刊名 | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
 |
| 出版日期 | 2021 |
| 卷号 | 13期号:4 |
| 英文摘要 | The flexure joints are proposed to replace the rigid assembly between the cross-arm and the moving carriages of dual-drive H-type gantry (DHG) for higher reliability and fine rotational alignments. In the literature, the flexure joint of the DHG is modeled as an ideal linear torsional spring, resulting in an inaccurate estimation of the cross-arm's angle. In this study, a generalized analytical kinetostatic model of flexure-linked DHG is built by considering the geometric nonlinearities. The expressions of beam coefficients in the model are obtained from either beam constraint model (BCM) or Timoshenko BCM (TBCM) according to the given criterion of length-to-thickness ratio. The model is capable to accurately estimate any two variables among the rotation angle of the cross-arm, the misalignment of two carriages, and the net driving force, as long as the other is known. Simulations and experiments on the testbed validate the accuracy and show practical appeals of the proposed model. |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/21685]  |
| 专题 | 中国科学院宁波材料技术与工程研究所 2021专题_期刊论文 |
| 作者单位 | Chen, SL (corresponding author), Chinese Acad Sci, Ningbo Inst Mat Technol & Engn, Ningbo 315201, Peoples R China. |
| 推荐引用方式 GB/T 7714 | Chen, Silu,Wan, Hongyu,Jiang, Chao,et al. Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2021,13(4). |
| APA | Chen, Silu.,Wan, Hongyu.,Jiang, Chao.,Ye, Liuying.,Yu, Hongtao.,...&Wu, Jiefeng.(2021).Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,13(4). |
| MLA | Chen, Silu,et al."Kinetostatic Modeling of Dual-Drive H-Type Gantry With Exchangeable Flexure Joints".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 13.4(2021). |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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