A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint
A novel spatial mechanism with redundant elastic constraints is presented in this paper to establish a comprehensive model for simulating kinematic characteristics of an actual revolute joint with flexibility and geometric errors. The rigid cam profiles are specified to represent the geometrical errors. Elastic springs are used to simulate the deformations of joint components and their surfaces for the actual machine parts. The proposed RE mechanism, consisting of suspended cams and multiple followers with springs, yields a total of 32 basic equations for displacement analysis. The numerical results obtained using the proposed approach were compared with the experimental data for an example revolute joint; good agreement was achieved for joint kinematic characteristics. The proposed approach provides a new application of the theory of mechanism in comprehensive performance analysis of a complex mechanical system having many components with machining errors.
KeywordsElastic constraint Error Mechanism Revolute joint
The authors acknowledge with appreciation the financial support from the National Natural Science Foundation of China (51275067).
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