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Measuring How Well a Structure Supports Varying External Wrenches

  • François Guay
  • Philippe Cardou
  • Ana Lucia Cruz-Ruiz
  • Stéphane Caro
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 17)

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 quick hull 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.

Keywords

Kinematic index dexterity manipulability kinematic sensitivity grasping stability cable-driven robot wire-driven robot Gough-Stewart platform 

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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • François Guay
    • 1
  • Philippe Cardou
    • 1
  • Ana Lucia Cruz-Ruiz
    • 2
  • Stéphane Caro
    • 3
  1. 1.Laboratoire de robotique, Département de génie mécaniqueUniversité LavalQuebec CityCanada
  2. 2.IRCCyNÉcole Centrale de NantesNantesFrance
  3. 3.CNRS/IRCCyNNantesFrance

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