A Quasi-Static Model for Planar Compliant Parallel Mechanisms
- 20 January 2009
- journal article
- Published by ASME International in Journal of Mechanisms and Robotics
- Vol. 1 (2), 021012
- https://doi.org/10.1115/1.3046144
Abstract
In this paper, the mobility, the kinematic constraints, the pose of the end-effector, and the static constraints that lead to the kinematostatic model of a compliant parallel mechanism are introduced. A formulation is then provided for its instantaneous variation—the quasi-static model. This new model allows the calculation of the variation in the pose as a linear function of the motion of the actuators and the variation in the external loads through two new matrices: the compliant Jacobian matrix and the Cartesian compliance matrix that give a simple and meaningful formulation of the model of the mechanism. Finally, a simple application to a planar four-bar mechanism is presented to illustrate the use of this model and the new possibilities that it opens, notably the study of the kinematics for any range of applied load.Keywords
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