Abstract
Overconstrained mechanisms play a pivotal role in mechanism theory, combining mathematical science with engineering design to provide the foundational kinematics for emerging applications in modern machinery and robotic systems. Calculating a mechanism’s mobility is among an engineer’s first steps towards building machines as desired, which can be a challenging task. The paradox of overconstrained mechanisms is, quoting Prof. Andreas Müller, that “although one may not construct a ‘perfectly overconstrained’ mechanism, one will, and this is the design goal, end up with an ‘almost overconstrained’ mechanism ... Therefore, and due to the flexibility of links and joint clearances, the real mechanism will exhibit almost the type of motion of its perfect (overconstrained) prototype. This is why the understanding of overconstrained mechanisms is important though.” The Mechanism and Machine Theory is the leading platform attracting researchers contributing to this research topic. However, a long-standing challenge remains to push the overconstrained mechanisms from theoretical kinematics to engineering applications with advanced robotics, where an emerging field of “overconstrained robotics” may interest researchers in related fields of expertise.
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BibTeX (Download)
@workshop{Song2024TheDesign,
title = {The Design and Learning of Overconstrained Mechanisms towards Overconstrained Robotics},
author = {Chaoyang Song},
year = {2024},
date = {2024-06-26},
urldate = {2024-06-26},
booktitle = {Mechanism and Machine Theory Symposium},
address = {Guimarães, Portugal},
abstract = {Overconstrained mechanisms play a pivotal role in mechanism theory, combining mathematical science with engineering design to provide the foundational kinematics for emerging applications in modern machinery and robotic systems. Calculating a mechanism’s mobility is among an engineer’s first steps towards building machines as desired, which can be a challenging task. The paradox of overconstrained mechanisms is, quoting Prof. Andreas Müller, that “although one may not construct a ‘perfectly overconstrained’ mechanism, one will, and this is the design goal, end up with an ‘almost overconstrained’ mechanism ... Therefore, and due to the flexibility of links and joint clearances, the real mechanism will exhibit almost the type of motion of its perfect (overconstrained) prototype. This is why the understanding of overconstrained mechanisms is important though.” The Mechanism and Machine Theory is the leading platform attracting researchers contributing to this research topic. However, a long-standing challenge remains to push the overconstrained mechanisms from theoretical kinematics to engineering applications with advanced robotics, where an emerging field of “overconstrained robotics” may interest researchers in related fields of expertise.},
note = {Extended Abstract accepted to Mechanism and Machine Theory Symposium},
keywords = {Corresponding Author, First Author, MMTSymposium},
pubstate = {published},
tppubtype = {workshop}
}
