提出两种方法预测可变拓扑机构动态行为，解决运动切换时的物理一致性问题。
Forward Dynamics of Variable Topology Mechanisms - The Case of Constraint Activation
- 用冗余坐标与最小坐标分别构建投影运动方程和Voronets方程
- 在平面3R机构与6自由度机械臂上验证了切换时动力学连续性
- 适合研究人机交互中机构锁止行为的工程师与研究人员
许多机械系统在运行中会因运动学拓扑变化而改变自由度。理想接触是最常见的原因，但部件间的粘滞摩擦或主动锁止也会引发拓扑变化，这在人机交互中日益重要。预测这类可变拓扑机构的动态行为需解决非光滑动力学问题，核心挑战在于拓扑切换事件处的物理意义过渡条件。本文提出了两种解法：一种基于冗余坐标下的投影运动方程，另一种基于最小坐标下的Voronets方程。讨论了两者的计算特性，并在平面3R机构和6自由度工业机械臂的关节锁止场景中展示了结果。
原文摘要 · Abstract (English)
Many mechanical systems exhibit changes in their kinematic topology altering the mobility. Ideal contact is the best known cause, but also stiction and controlled locking of parts of a mechanism lead to topology changes. The latter is becoming an important issue in human-machine interaction. Anticipating the dynamic behavior of variable topology mechanisms requires solving a non-smooth dynamic problem. The core challenge is a physically meaningful transition condition at the topology switching events. Such a condition is presented in this paper. Two versions are reported, one using projected motion equations in terms of redundant coordinates, and another one using the Voronets equations in terms of minimal coordinates. Their computational properties are discussed. Results are shown for joint locking of a planar 3R mechanisms and a 6DOF industrial manipulator.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。