Static force capabilities and dynamic capabilities of parallel mechanisms equipped with safety clutches

Authors: Wei, Chen
Advisor: Gosselin, Clément
Abstract: This thesis investigates the force capabilities of two-degree-of-freedom planar parallel mechanisms that are equipped with safety clutches (torque limiters). The force capabilities are studied based on the Jacobian matrices. The maximum force that can be applied at the end-effector for given torque limits (safety index) is determined together with the maximum isotropic force that can be produced. The ratio between these two forces, referred to as the force effectiveness, can be considered as a performance index. Finally, some numerical results are proposed which can provide insight into the design of cooperation robots based on parallel architectures. Considering each link and slider system as a single body, approximate dynamic models are derived based on the Newton-Euler approach and Lagrange equations for the tripteron and the quadrupteron. The acceleration range or the external force range of the end-effector are determined and given as a safety consideration with the dynamic models.
Document Type: Mémoire de maîtrise
Issue Date: 2014
Open Access Date: 20 April 2018
Grantor: Université Laval
Collection:Thèses et mémoires

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