過拘束空間リンク機構の柔軟体モデリング・運動学同定・組立精度
Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages
過拘束な単ループリンク機構を柔軟マルチボディとしてモデル化し、3Dプリント試作機で組立精度を検証した。構造コンプライアンスにより理想形状へ自己組立する傾向を明らかにした。
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著者: Daniel Huczala, Michael Pieber, Johannes Gerstmayr, Andreas Mair, Frederik Schulte, Silvia Glas, Tomas Postulka, Ales Vysocky, Martin Pfurner
分類: cs.RO, math.AG
原文アブストラクト
Overconstrained rational single-loop linkages are efficient, compact, and low-cost custom mechanisms, yet their deployment in industrial settings is limited. In simulations, rigid body formulations fail due to redundant constraints. This study presents a flexible multibody modeling framework based on the floating frame of reference formulation, and delivers an overall accuracy analysis of assembled linkages prototypes. The approach is validated against 3D-printed PLA prototypes of a Bennett four-bar mechanism, including variants with intentional joint-axis misalignment, which theoretically, from the rigid body point of view, cannot be assembled. A supplementary contribution is delivered in the form of a kinematic parameter identification methodology suited for this type of mechanism with ill-conditioned Jacobian. The experimental and simulation results are compared and reveal that these overconstrained mechanisms exhibit a self-assembling tendency -- structural compliance drives the assembly toward the ideal geometric configuration, distributing constraint stress throughout the structure. Additional qualitative demonstrations using cardboard tubes and bamboo sticks as link building blocks confirm that functional mechanisms can be realized from low-cost, unconventional materials with limited manufacturing accuracy. The proposed modeling pipeline is fully algorithmic and enables design optimization in the future.