Theory of Force Adaptation

10.6567/IFToMM.14TH.WC.OS6.003

Konstantin Ivanov

force adaptation ； closed contour ； two degrees of freedom ； constant engagement ； addition constraint ； definability ； variable transfer ratio

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

157 - 165

英文

Force adaptation takes place in a kinematic chain with two degrees of freedom, but only with one input. Such system is considered indefinable. However, if closed contour containing four links is placed between input and output links, then such system has all parameters definability. The closed contour allows making conditions of balance for two links of a contour by a principle of virtual works. These conditions include external and internal forces and are addition in one condition. Work of internal forces for ideal system is equal zero. It leads to receipt of additional constraint in the form of equality to zero of work of external forces. The kinematic chain with two degrees of freedom gets definability of all parameters, and also gets property of force adaptation. - Output link is in motion with a speed, inversely proportional to loading, only at the expense of force properties. Force force adaptation occurs by redistribution of speeds of motion of links in the closed contour under the acting of variable loading. The present work is devoted to a brief description of the theory of force adaptation.

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