Spatial-Temporal Motion Control via Composite Cam-follower Mechanisms
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Technical Papers
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TimeFriday, December 179am - 9:11am JST
LocationHall B5 (1) (5F, B Block) & Virtual Platform
DescriptionMotion control, both on the trajectory and timing, is crucial for mechanical automata to perform functionalities such as walking and entertaining. We present composite cam-follower mechanisms that can control their spatialtemporal motions to exactly follow trajectories and timings specified by users, and propose a computational technique to model, design, and optimize these mechanisms. The building blocks of our mechanisms are a new kind of cam-follower mechanism with a modified joint, in which the follower can perform spatial motion on a planar, cylindrical, or spherical surface controlled by the 3D cam’s profile. We parameterize the geometry of these cam-follower mechanisms, formulate analytical equations to model their kinematics and dynamics, and present a method to combine multiple camfollower mechanisms into a working mechanism. Taking this modeling as a foundation, we propose a computational approach to designing and optimizing the geometry and layout of composite cam-follower mechanisms, with an objective of performing target spatial-temporal motions driving by a small motor torque. We demonstrate the effectiveness of our technique by designing different kinds of personalized automata and showing results not attainable by conventional mechanisms.