Title

Realization of Those Elastic Behaviors That Have Compliant Axes in Compact Elastic Mechanisms

Document Type

Article

Language

eng

Format of Original

12 p.

Publication Date

2-26-2002

Publisher

Wiley

Source Publication

Journal of Robotic Systems

Source ISSN

0741-2223

Original Item ID

doi: 10.1002/rob.10029

Abstract

In this article, we address the synthesis and realization of a subset of spatial elastic behaviors, those with compliant axes, in compact parallel mechanisms. Using the procedures developed, a geometric description of the layout of a compact mechanism of springs connected in parallel is obtained. In each of these mechanisms, each spring axis is restricted to intersect a single point in space. The variation in the orientation of the intersecting spring axes is also restricted. The degree of restriction in axis orientation is determined by the number of “compliant axes” associated with the specified elastic behavior. Also, as part of this work, a physical appreciation of the different classes of stiffnesses that have compliant axes is identified and interpreted in different types of concurrent parallel mechanisms.

Comments

Journal of Robotic Systems, Vol. 19, No. 3 (February 26, 2002): 143-154. DOI.