Journal
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
Volume 1, Issue 2, Pages -Publisher
ASME
DOI: 10.1115/1.3046144
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Funding
- Natural Sciences and Engineering Research Council of Canada (NSERC)
- Canada Research Chair Program
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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. [DOI: 10.1115/1.3046144]
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