Abstract
The benefits of compliant mechanisms in terms of precision are not easy to exploit because of the limitations of the existing kinematic models used to analyze them. In practice, compliant mechanisms are more sensitive to external wrenches than conventional mechanisms. In this paper, based on the kinematic constraints and the static equilibrium between the joint coordinates and the external wrenches, a general kinematostatic model of compliant parallel mechanisms is presented. Then, this model is differentiated to provide a quasi-static model that makes it possible to calculate the variation of the pose as a linear function of the motion of the actuators and the variation of the external loads through two new matrices: the quasi-static Jacobian matrix and the Cartesian compliance matrix that give a simple and meaningful formulation of the model of the mechanism.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.