Spatial-temporal motion control via composite cam-follower mechanisms
ACM Transactions on Graphics(2021)
摘要
AbstractMotion 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 spatial-temporal 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 cam-follower 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.
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关键词
cam-follower mechanism, kinematic modeling, computational design, 3D printing
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