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Measuring How Well a Structure Supports Varying External Wrenches

Abstract : An index is introduced, the minimum degree of constraint satisfaction, which quantifies the robustness of the equilibrium of an object with a single scalar. This index is defined under the assumptions that the object is supported by forces of known lines of action and bounded amplitudes, and that the external perturbation forces and moments vary within a known set of possibilities. A method is proposed to compute the minimum degree of constraint satisfaction by resorting to the quickhull algorithm. The method is then applied to two examples chosen for their simplicity and diversity, as evidence of the broad spectrum of applications that can benefit from the index. The first example tackles the issue of fastening a workpiece, and the second, the workspace of a cable-driven parallel robot. From these numerical experiments, the minimum degree of constraint satisfaction proves useful in grasping, cable-driven parallel robots, Gough-Stewart platforms and other applications.
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https://hal.archives-ouvertes.fr/hal-01941645
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Submitted on : Saturday, December 1, 2018 - 8:00:14 PM
Last modification on : Wednesday, October 13, 2021 - 3:52:07 PM
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  • HAL Id : hal-01941645, version 1

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François Guay, Philippe Cardou, Ana Lucia Cruz Ruiz, Stéphane Caro. Measuring How Well a Structure Supports Varying External Wrenches. The Second Conference on Mechanisms, Transmissions and Applications (MeTrApp 2013), Oct 2013, Bilbao, Spain. ⟨hal-01941645⟩

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