Computational Design of Statically Balanced Planar Spring Mechanisms

Takuto Takahashi*, Jonas Zehnder, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski

*この研究の対応する著者

研究成果: Article査読

7 被引用数 (Scopus)

抄録

Statically balanced spring mechanisms are used in many applications that support our daily lives. However, creating new designs is a challenging problem since the designer has to simultaneously determine the right number of springs, their connectivity, attachment points, and other parameters. We propose a novel optimization-driven approach for designing statically balanced mechanisms in an interactive, semi-automatic way. In particular, we describe an efficient method for design optimization based on the principle of constant potential energy, an automated sparsification method for spring topology design, and a null-space exploration scheme that enables user to navigate the local space of design alternatives. We demonstrate our design system on a set of simulation examples and several manufactured prototypes.

本文言語English
論文番号8767997
ページ(範囲)4438-4444
ページ数7
ジャーナルIEEE Robotics and Automation Letters
4
4
DOI
出版ステータスPublished - 2019 10月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

フィンガープリント

「Computational Design of Statically Balanced Planar Spring Mechanisms」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル