Document Type

Article

Language

eng

Publication Date

4-2019

Publisher

Elsevier

Source Publication

Mechanism and Machine Theory

Source ISSN

0094-114X

Abstract

In this paper, a geometric approach to the passive realization of any planar compliance with a redundant compliant mechanism is presented. The mechanisms considered are either simple serial mechanisms consisting of five elastic joints or simple parallel mechanisms consisting of five springs. For each type of mechanism, realization conditions to achieve a given compliance are derived. The physical significance of each condition is identified and graphically interpreted. Geometry based synthesis procedures to achieve any given compliance are developed for both types of mechanisms. Since each realization condition imposes restrictions solely on the mechanism geometry, the procedures allow one to choose the geometric properties of each component (from a set of admissible options) independently from the selection of the elastic properties of each component.

Comments

Accepted version. Mechanism and Machine Theory, Vol. 134 (April 2019): 645-666. DOI. © 2019 Elsevier. Used with permission

Available for download on Thursday, April 01, 2021

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