ScholarWorks@숙명여자대학교

초록

Spring elements can be used to make mechanisms adaptive. Adaptive mechanisms, such as one-degree-of-freedom (DOF) underactuated spring-linkage mechanisms, can surmount unanticipated obstacles in their paths. Design-wise, spring allocation to convert a non-adaptive linkage mechanism into an adaptive one is difficult without increasing errors in the generated path by the original mechanism. Here, we aim to develop a computational method for synthesizing an adaptive spring-linkage mechanism. With this method, we simultaneously determine the dimensions of the baseline linkage as well as the configuration of springs. To this end, we devised a novel spring-ground model consisting of spring elements that may connect any rigid link pair. We formulated a gradient-based optimization problem using this unified model to synthesize the spring-linkage mechanism. Through the formulation, we ensure that the resulting mechanism smoothly follows a predefined path during obstacle-free motion. Additionally, when unexpected obstacles appear, its configuration is adjusted to deform along the specified hardest or easiest deformation direction. Our method is validated with several mechanisms and applied to design a transformable wheel robot's adaptive mechanism.

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