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RISHarmonic Synthesis Theory for Dynamic Spring Balancing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: At resonance, a small excitation force amplitude results in a relatively large amplitude system response. Although typically viewed as undesirable, operating a machine near resonance can sometimes ...
Harmonic Synthesis Design Methodology for Dynamic Spring Balancing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new spring balancing technique, called a two-phase optimization method, is presented. Phase 1 uses harmonic synthesis to provide a system configuration which achieves an approximation to a ...
An Energy Efficient Quadruped with Two-Stage Equilibrator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A first consideration of the applications of mechanical equilibrators to legged locomotion is presented. Equilibrators are shown to eliminate “geometric work” while allowing simultaneous dual ...
Equilibrators for Planar Linkages
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This manuscript provides a mathematical basis for comparing the complexity of equilibrator methodologies, extends the applications of those methodologies, and develops new methodologies. Two ...
‘Perfect’ Spring Equilibrators for Rotatable Bodies
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new equilibrator design approach based on system potential energy functions is presented. This approach was used to discover a group of spring equilibrators which perfectly balance a rotatable ...
A Preliminary Investigation of the Dynamic Stability of Flexible Manipulators Performing Repetitive Tasks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The governing equations of motion for the compliant coordinates describing a flexible manipulator performing repetitive tasks contain parametric excitation terms. The stability of the zero solution ...
Nonlinear Response of Flexible Robotic Manipulators Performing Repetitive Tasks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The dynamics of a flexible manipulator is described by two distinct types of variables, one describing the nominal motion and the other describing the compliant motion. For a manipulator ...
Elastic Potential Synthesis—A Generalized Procedure for Dynamic Synthesis of Machine and Mechanism Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: By synthesizing a mechanism to govern the deflection of a linear spring, this paper presents a method to generate a specified elastic potential energy function. This synthesis approach, termed ...
Perfect Equilibrators for Rigid Body Spatial Rotations About a Hooke’s Joint
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Perfect spring equilibrator designs are identified which eliminate the effects of gravity on spatial rotations of a rigid body. The rigid body is connected to ground via a Hooke’s joint and ...
Parametric Excitation of Robotic Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The predominant compliance in the dynamic response of the PUMA 560 robot manipulator arises in joints 2 and 3. Considering compliance of these two joints, the effects of user controlled variables ...