A Design Approach for Flexible-Link Parallel Mechanisms using Kinematic Equivalence between Rigid and Elastic Chains
Authors: 
Hao Pan, Genliang Chen, Hao WangAuthors Info & Claims
Hao Pan, Genliang Chen, Hao WangAuthors Info & ClaimsPages 83 - 87
Abstract
Continuous deformation of elastic rods/sheets makes flexible-link parallel mechanisms be able to generate dexterous motion and passive compliance, but simultaneously produces difficulties toward their structure design. Based on the principal axis decomposition of a compliance matrix, a kinematic equivalence method from rigid to elastic chains is proposed for structure synthesis of such mechanisms. Then, a validating model using minimum elastic potential energy as its objective is established to identify the existence of the equivalent elastic chains. Finally, cases of equivalence for a RPC chain and its application in the structure design of the corresponding low-DoF flexible-link parallel mechanism are studied through numerical kineto-statics analysis. The kinematics results demonstrate the feasibility and effectiveness of the design approach in this paper.
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Published In
August 2021
278 pages
ISBN:9781450390453
DOI:10.1145/3483845
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Published: 22 October 2021
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CCRIS'21
CCRIS'21: 2021 2nd International Conference on Control, Robotics and Intelligent System
August 20 - 22, 2021
Qingdao, China
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