By Lawrence J. Kamm
Minimal Constraint layout (MCD) offers buildings and mechanisms with 0 looseness, 0 binding and occasional price. The author's robotic corporation, MOBOT Corp., made Cartesian robots with as much as 20 toes. vertical movement and four hundred toes. horizontal movement and with precision mechanical homing suggestions of half grippers utilizing in basic terms small computing device instruments. No magic, simply knowing constraint thought and transparent considering. The publication explains, with no math, constraint idea, minimal Constraint layout (MCD), Semi-Minimum Constraint layout (SemiMCD), and Redundant Constraint layout (RCD. It then is going directly to speak about a few comparable subject matters in layout engineering, together with robotic grippers.
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Extra resources for Designing Cost-Efficient Mechanisms: Minimum Constraint Design, Designing With Commercial Components, and Topics in Design Engineering (Reference)
Again, the cost was low; very little machining was required, none of it over large areas. For better straightness than provided by the raw extrusion, we shimmed the stand-offs 3 by using the simple instrumentation of Fig. 23. A variety of drives, mountings, and load attachments were used, all independent of this basic five-constraint, one-freedom MinCD mechanism. 5 Large linear-motion mechanism. The largest linear-motion module we made was 140 ft long, in three sections, and carried an 800lb payload.
1 Elasticity. Materials are used for soft constraints because they have low elastic constants and have substantial hysteresis. Among these materials are elastomers, cork, leather, textiles, knitted wire, and wire rope in bending. 2 Hysteresis. Mechanical hysteresis is the energy loss when a material is subject to a varying stress. The energy loss appears as a smaller force in the return direction than the applied force in the forward direction. This energy loss is used to damp oscillation in shock and vibration absorbers.
3 have high hysteresis, which is why they are used for damping. 3 Viscosity. Viscous force is used in various devices to generate soft constraint either to damp oscillation or to decelerate a body. Liquids whose viscous drag is proportional to speed behave with mathematical linearity (like eddy currents) and are called Newtonian. Floated gyroscopes rely on such linearity and typically use Fluoro- Kinds of Constraint 47 lube* oils because of their linearity. (See Subsec. ") Viscosity of all fluids is temperature-sensitive (although silicones are less temperature-sensitive than most); so such gyroscopes are typically heated to a fixed temperature.